Linear Active Disturbance Rejection Control of Pneumatic Translational Parallel Manipulator with Consideration of Position Error Compensation

【摘要】：For joint space control of the pneumatic translational parallel manipulator, in order to improve the tracking accuracy of the space trajectory, not only the tracking error of a single driving limb needs to be reduced, but also the coupling of driving limbs and the motion coordination need to be considered. A linear active disturbance rejection control with consideration of position error compensation is proposed for pneumatic translational parallel manipulator. A linear active disturbance rejection controller is used for single driving limb to overcome the compressibility of the gas, the time-varying load and the friction. In addition, position error compensation is used to solve the problem of the motion coordination, further reducing tracking error of space trajectory. The effectiveness of the control strategy is verified by experiment.