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A series of fractional robust trajectory tracking controls are proposed for the Delta parallel robot with uncertainty. For the high speed and heavy load, the Delta parallel robot could not ignore the influences of the high nonlinearity (by the dynamics of the multiple closed-loops mechanism and the nonlinear joints friction) and the various kinds of uncertainties (i.e., the unknown dynamic parameters and external disturbances caused by the residual vibration). By formulating the motion equationdoi:10.1109/access.2020.2997093 fatcat:lxin4hwlmna6ve4fbd4om24jfe