End-effector trajectory tracking of flexible link parallel robots using servo constraints

Abstract We apply the concept of servo constraints to end-effector trajectory tracking control parallel robots with structural link flexibilities. Such deliver inverse robot model where solution approaches via projections are proposed, which transform resulting differential-algebraic equations ordinary differential equations. The applicable process depends on existence and stability internal dynamics. When using exact flexible as output, this dynamics is usually unstable. Then a two-point boundary value problem considered in framework stable inversion obtain noncausal offline. This used feedforward control, initially combined only actuator feedback control. To also account for errors within flexibility, well-known linear–quadratic regulator adapted based Finally, we propose systematic input–output linearization approach, uses robots. Here minimum phase system obtained by redefined an approximation position. All concepts validated experimentally having highly link. results allow us compare different show superior performance controllers that rely multibody contrast classical rigid modeling.