High-precision trajectory tracking control for parallel robots based on the super-helical algorithm

With the growing demand for industrial automation, the application of high-performance parallel robot systems in complex operations has become increasingly important. However, these systems are often affected by unknown environmental disturbances and modeling uncertainties, making precise control a significant challenge. This paper proposes an adaptive super-helical integral terminal sliding mode control strategy to address the trajectory tracking problem of parallel robots in the face of complex disturbances. First, the dynamics model of the parallel robot is detailed, and a novel controller is designed based on this model. The control strategy integrates the approach law method, the super-helical algorithm, and the integral terminal sliding mode technique to enhance the system’s robustness and dynamic response speed. Simulation experiment results demonstrate that the proposed control strategy exhibits significant advantages in resisting disturbances and suppressing system vibrations compared to traditional PID control and fuzzy sliding mode control. The controller design in this study not only improves trajectory tracking accuracy but also demonstrates its potential value in practical industrial applications.