Dual-Space Dynamics Adaptive Synchronization Control for Redundantly Actuated Parallel Robots

Abstract Redundantly Actuated Parallel Robots (RAPRs) utilize multiple coordinated actuators to enhance structural stiffness, load capacity, and motion flexibility, making them suitable for high-precision manufacturing and positioning tasks. However, their control performance is significantly affected by uncertainties in rigid-body dynamic parameters in the task space (TS) and friction characteristics in the joint space (JS). Additionally, actuation redundancy increases the complexity of synchronization among multiple kinematic chains. To address these issues, this paper proposes a Dual-Space Adaptive Synchronous Control (DS-SCADP) method, which integrates adaptive compensation for rigid-body dynamics in TS, adaptive friction compensation in JS, and multi-axis cross-coupled synchronization control.Simulations and experiments conducted on a 2-rotation-1-translation RAPR prototype demonstrate that the proposed method effectively improves the control accuracy of each drive joint, enhances coordination between drives, and thereby increases the overall accuracy of the moving platform.