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The purpose of this study is to apply robust inverse dynamics control for a 6 DOF parallel robot. The implementation is performed considering a simplification of the inverse dynamics control law by assuming the control law matrices as constants, and by using a joint control structure to avoid the forward kinematics calculation. The robust control strategy is applied in the outer loop of the inverse dynamic control to counteract the effects of imperfect compensation due to this simplification. Additionally, the control strategy is designed using the Lyapunov stability theory, and the dynamic model in joint coordinates is briefly presented. Numerical results are shown in order to validate the controller performance.

UNESP Univ Estadual Paulista, Av Tres de Marco 511, BR-18087180 Sorocaha, SP, Brazil

UNESP Univ Estadual Paulista, Ave Eng Luiz Edmundo C Coube 14-01, BR-17033360 Bauru, SP, Brazil

UNESP Univ Estadual Paulista, Av Tres de Marco 511, BR-18087180 Sorocaha, SP, Brazil

UNESP Univ Estadual Paulista, Ave Eng Luiz Edmundo C Coube 14-01, BR-17033360 Bauru, SP, Brazil