Abstract: Based on the characteristic of the hybrid mechanism, the control method is studied. The control strategy of variable-structure is discussed and the method of real-time error compensation based on the Inverse kinematics is proposed. The software for the experiment is developed and the experiment is done under the different operating mode with load or no load. The result of the experiment proves that the control strategy and the method of real-time error compensation be correct. The control precision, the rapidity and the stability are all in accordance with the desire of the motion control.

Key words: Error compensation, Control strategy, Hybrid-driven machine, Variable-structure