Trajectory Errors of the 6-PGK Parallel Robot

This paper presents a method to determinate a desired trajectory for the manipulated object by the 6-PGK parallel robot, with an imposed velocity, when some vibration motions act in the prismatic motor joints. By using the Lagrangian approach the dynamic equations of motion of the parallel robot were deduced. The supplementary generalized forces that must be introduced in system to correct the trajectory errors have been computed from these equations.