MECHATRONIC CONCEPTS FOR ADAPTIVE CONTROL APPLIED TO PARALLEL KINEMATIC MACHINES

In the paper, different approaches concerning the control of PKM (Parallel Kinematic Machines) are presented. One solution is “Independent Joint Control” which simplifies a robot controller from a design point-of-view. Each actuated joint is taken to be a single-input single-output (SISO) system. Each joint is controlled based on the desired joint position, and measurements of the actual joint position. The paper is focus on a Model Based Predictive Control (MBPC) type algorithm which uses on-line simulation and rule-based control. The efficiency and applicability of the proposed algorithm for a SISO motion system are demonstrated through applications.