Design and control of high-speed parallel robot

摘要

In this paper, we develop the high speed parallel robot for handling the solar cell. This research covers the design of the experimental prototype, the design of the control algorithm and the evaluation of the performance of the proposed system. The control method using the feedback and feedforward are developed and applied to each joint of the parallel robot. To improve the performance, both the tracking error and synchronization error are considered. Finally, experiments are conducted to verify the performance.