Application of MRAC to a 6-dof parallel machine tool

This paper presents an analysis of the kinematics and dynamics for a 6-dof parallel machine tool. The synthetical force on every leg during the motion process can be calculated according to the dynamics equation. A model reference adaptive control (MRAC) scheme is utilized in the control of the machine tool, and Popov hyperstable theory is utilized as the adaptive control law. The simulation results indicate the feasibility and robustness against external disturbances of the system.