The Control of Hexapod Parallel Mechanism

In order to enhance the innervation's fidelity of simulators, an adaptive nonlinear controller is developed, which guarantees parallel mechanisms closed loop system global asymptotical stability and the convergence of posture tracking error in Cartesian space. The problem of rapid tracking under the condition of the wide range, nonlinear and variable load is solved. After the adaptive nonlinear controller is actually applied to the hexapod parallel mechanisms of simulator, the dynamic-static capabilities of motion system is tested by amplitude-frequency response and posture precision. The experimental results show that the static precision improves ten times and system output amplitude increase and the phase lag reduce with respect to the same input signal in Cartesian space in comparison with the traditional proportional and derivative controlling method in joint space. Therefore the adaptive nonlinear controller can effectively improve the dynamic-static response performance of the hexapod parallel mechanisms of simulators in Cartesian space.