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根据并联机器人液压伺服系统的特点,将积分变结构控制理论应用于并联机器人的轨迹跟踪。在滑模控制中引入跟踪误差积分控制项,提高了跟踪精度,且消除了要求被跟踪信号导数已知的假设；同时,基于模糊控制理论,对切换控制量进行模糊化处理,有效地削弱了滑模切换控制所产生的抖动。研究和实践表明：该控制方法对于并联机器人轨迹跟踪具有良好的控制效果。
According to the characteristics of the parallel robot hydraulic servo system, the theory of integral variable structure control is applied to the trajectory tracking of parallel robots. In the sliding mode control, the tracking error integral control term is introduced to improve the tracking accuracy and eliminate the assumption that the derivative of the tracked signal is known. At the same time, based on the fuzzy control theory, the switching control amount is fuzzified, effectively weakened Slider switching control generated by the jitter. Research and practice show that this control method has a good control effect for parallel robot trajectory tracking.