Abstract In this paper, a novel 5-Degree of Freedom (DOF) Redundantly Actuated (RA) Parallel Kinematic Manipulator (PKM) called SPIDER4 is presented. The main purpose of this manipulator is to perform machining tasks such as drilling and milling. All the mathematical models including the forward and inverse kinematic models, as well as the inverse dynamic model were developed. Owing to machining tasks require high precision, a RISE Feedforward controller is proposed for desired trajectory tracking. To show the performance and effectiveness of the proposed control scheme, real-time experiments were performed. The obtained results of the proposed controller compared to the standard RISE controller are presented and discussed. They confirm that the proposed controller outperforms the standard one.

中文翻译：

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使用 RA-PKM 进行加工的新解决方案：建模、控制和实验

摘要 在本文中，提出了一种名为 SPIDER4 的新型 5 自由度 (DOF) 冗余驱动 (RA) 并联运动机械手 (PKM)。该机械手的主要用途是执行钻孔和铣削等加工任务。建立了包括正向和逆向运动学模型以及逆向动力学模型在内的所有数学模型。由于加工任务需要高精度，提出了一种 RISE 前馈控制器来实现所需的轨迹跟踪。为了显示所提出的控制方案的性能和有效性，进行了实时实验。提出并讨论了所提出的控制器与标准 RISE 控制器相比所获得的结果。他们确认提议的控制器优于标准控制器。