Dynamic Modeling and Robust Trail Tracking Control of 3-DOF Translational Parallel Kinematic Machine Driven by AC Servo Motors
考虑交流伺服电机动力学特性的并联机构鲁棒轨迹跟踪控制方法研究

This paper presents a method for the design of robust trail tracking control of a 3-DOF translational parallel kinematic machine with parallelogram struts. The method takes into account both the dynamics of rigid-body of mechanical systems and servo motor. A robust trail tracking controller is designed to suppress the negative effects due to the dynamic modeling errors and undesirable disturbances. The performance and the stability of the controller were verified by computer simulation and the results show that the uniform and ultimate bound of the tracking error is guaranteed.