Tracking control of 3 DOF parallel robots: Prototype design and experiments

Abstract

Parallel robot has been usually used for pick-and place motion in very high speed environment to enhance the productivity. The high speed parallel robot is proposed for handling the solar cell in this paper. However the target processes are not just limited to the solar cell. The control algorithm is developed to achieve the high speed tracking control of pick-and-place motion. Also the prototype machine is designed and the cycle time and the repeatability of the proposed robot are validated. The method using the feedback and feedforward control is applied to the developed parallel robot and the performance is proven through the experiments. To improve the performance, the error for tracking and synchronization are simultaneously considered.