Adaptive RISE Feedback Control for Robotized Machining With PKMs: Design and Real-Time Experiments

The development of high-precision tasks, such as machining, needs a positioning device for the cutting tool with smallest possible error. Multiple design factors need to be considered ensure mechatronic successfully performs tasks. One these may attributed control scheme, which is responsible controlling position machine. In view importance designing good scheme robotic system, in this article, we propose new extension robust integral sign error (RISE) parallel kinematic machine (PKM). This consists including nominal feedforward term based on inverse dynamic model robot and replacing RISE fixed feedback gains adaptive ones. part proposed controller ensures semiglobal asymptotic stability. Moreover, it can accommodate sufficiently smooth bounded disturbances. cancels nonlinearities improving tracking performance controller. produce corrective actions when an increase errors due contact forces that occur during machining process. A Lyapunov-based stability analysis conducted prove solution. To show its effectiveness, real-time experiments are performed two case studies; first one free motion trajectory second under three different forward speeds SPIDER4, redundantly actuated PKM.