A distributed control strategy is used and a high robust auto-disturbance-rejection-controller (ADRC) is designed in joint space of robot to implement the high-precision trajectory tracking of 6-PRRS parallel robot.

• 摘要针对6-PRRS并联机器人控制系统的非线性、耦合等特性，采用分散控制策略，在关节空间设计强鲁棒性的自抗扰控制器对其进行控制。