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This paper presents the kinematic and dynamic modeling and experimental results with nonlinear adaptive control of the Hexaglide, a new 6 dof parallel manipulator that is used as a high speed milling machine. The dynamic equations in a linear form for use in a nonlinear adaptive control scheme are Þrst derived using a method based on the virtual work principle. These equations are then implemented on a powerful controller for real-time compensation of dynamical forces and on-line dynamic calibration. Experimental results show that the proposed nonlinear adaptive controller is capable of identifying the dynamical parameters and that it outperforms conventional linear axis controllers by far.

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