High-Precision Tracking Control of Parallel Robots Using the Superhelix Algorithm

The increasing demand for precision in industrial automation has amplified the importance of accurate control in parallel robots, particularly given their high nonlinearity, complex coupling, and sensitivity to environmental disturbances. This paper presents a trajectory tracking control strategy leveraging a super-helix algorithm and an adaptive integral terminal sliding mode controller, specifically designed to address the challenges posed by inertial forces, frequent acceleration shifts, and external perturbations in high-speed Delta parallel robots. By deriving a comprehensive dynamics model and integrating the convergence law with sliding mode and super-helix techniques, the proposed method significantly enhances system robustness and dynamic responsiveness. Simulation results demonstrate that, compared to traditional approaches, this method markedly improves trajectory tracking precision, disturbance resistance, and vibration suppression, enhancing system performance by up to 98.65%. This controller not only ensures high tracking accuracy but also holds considerable promise for practical industrial applications.