Abstract:For the uncalibrated servo positioning is of important for the research based on PSDs and virtual linear constraint, the uncalibrated servo positioning system of single PSD was designed. Under the condition of PSD and unknown position of robot, kinematics model, control principle and dynamics model of robot were used synthetically to deduce Jacobian matrix and adaptive algorithm in the new system. Theoretic prove and software simulation are used to verify the accuracy of the uncalibrated servo positioning system and adaptive algorithm.