Advanced Control Techniques for Precision Improvement in Three-Degree-of-Freedom Parallel Kinematic Machines

Abstract

This paper explores advanced control techniques aimed at enhancing the precision of three-degree-of-freedom (3DOF) parallel kinematic machines (PKMs). The inherent mechanical advantages of PKMs, such as high stiffness and load-bearing capacity, make them suitable for precision applications. However, achieving and maintaining high precision remains challenging due to factors such as kinematic errors, dynamic disturbances, and non-linearities. This study investigates various adaptive control strategies, including model-based approaches, disturbance observers, and real-time error compensation, to address these challenges. Through simulation and experimental validation, the proposed methods demonstrate significant improvements in positioning accuracy and robustness under varying operational conditions. The results indicate that these adaptive strategies can effectively mitigate the adverse effects of uncertainties and enhance the overall performance of 3DOF PKMs.