Abstract: The control law of this kind of parallel flexible system is studied based on a 3-DOF parallel wire driven robot. In order to uniquely determine and easily measure the states of the manipulator, the variables of the constraint joints are used for describing the motion of the manipulator. Then, the kinematics and statics of the manipulator are studied, and a dynamic model of this parallel flexible system is established. Based on this model, the tracking control is studied. The controller is designed respectively based on a rigid model and the flexible model, and the performances of the controllers are analyzed, too. Finally, a simulation is made, and the results show that the performance of the rigid controller is bad, while the singular perturbation controller based on flexible model has good performance.

Key words: Flexible robot, Parallel wire driven, Singular perturbation, Two-time-scale control