In industrial practice parallel kinematic structures start to replace
serial ones, in case of time-sensitive, highly dynamical applications or
processes requiring a high structural rigidity of the robots. But the
high complexity of their dynamic models is still the biggest impediment
for the realization of model based trajectory tracking control
strategies.In this thesis a holistic concept for the model-based
trajectory tracking control of a special class of parallel robots -
containing functional or structural redundancies (complex parallel
robots) - is introduced. Since for these robots - due to the high
complexity of their dynamic models - sophisticated model-based
strategies for trajectory tracking control cannot be directly applied, a
new concept is necessary. It mainly bases upon the derivation of
real-time implementable compact dynamic models for the studied class of
robots. But compact dynamic models are only a first step on the way to a
model-based trajectory tracking control with high path accuracy and a
low traveling time. Additionally, appropriate designed trajectories are
required. For planning them a new strategy has been developed and
successfully applied.The holistic approach covering also aspects like
parameter identification and velocity estimation has been successfully
demonstrated at a planar parallel robot including experimental results.
