Error Analysis and Adaptive-Robust Control of a 6-DoF Parallel Robot with Ball-Screw Drive Actuators

Table 2

Maximum amplitudes and frequencies of the desired movements.

Movement	⁢Amplitude		Frequency (Hz)
	Wind turbine	Sailboat	Wind turbine	Sailboat
mov.	0.25 m	—	0.7	1.2
mov.	0.15 m	—	0.7	1.2
mov.	0.15 m	—	0.7	1.2
mov.			0.7	1.2
mov.			0.7	1.2
mov.			0.7	1.2