Evaluation of an Adaptive Weighting Cross-Coupled Controller for a 3-PRPS Platform

Abstract

Cross-coupled controller has been proposed for improved contouring accuracy of a multi-axis Cartesian system. This paper evaluated the cross-coupled controller in a non-orthogonal multi-axis system. As well known, the contour errors increase when increasing the contour feedrate. The adaptive cross-coupled weighting controller proposed herein maintains low contours at different feedrates. Experiments undertaken on a 3-PRPS stewart platform demonstrate the effectiveness of the proposed adaptive weighting cross-coupled controller.