Adaptive control of the Hexaglide, a 6 dof parallel manipulator

This paper presents the dynamic equation, nonlinear control and dynamic parameters identification of the Hexaglide, a new 6-DOF parallel manipulator intended to be used as a high speed milling machine. Using a method based on the virtual work principle, the dynamic equation is found in a compact linear form and then used in a nonlinear adaptive control algorithm based on the minimization of the tracking error. The dynamic parameters are learned during motion and introduced in an inverse dynamic model used as a feedforward compensator. Specific trajectories, exciting the parameters separately, enable a fast stepwise learning of the 12 parameters. A simulation demonstrates the validity of the approach