Enhanced performance of a parallel manipulator with hybrid joint-space and task-space control approaches
Year: 2025
Type: article
Abstract: This paper introduces two enhanced control approaches to improve the performance of parallel manipulators, addressing their inherent nonlinear dynamics and complex structure. The first approach results in a hybrid control system in joint space, integrating acceleration-based control, sliding mode, and disturbance observer techniques. The control system is designed to correct tracking errors and compensate for generalized disturbances, thus improving accuracy in tracking reference positions. The second approach merges the joint-space and task-space formulations, implementing proportional-derivative controllers in task space to manage the end-effector positions while maintaining safe operational configurations. The stability of the proposed controllers is demonstrated through Lyapunov analysis, while their performance is validated through comprehensive simulations and real-time experiments.
Source: Robotica
Authors: Eyyup Sincar, Zeki Y. Bayraktaroglu, Eray A. Baran, Evren Emre
Institutions: Istanbul Technical University, Istanbul Bilgi University
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
Estimated APC paid: $3,550
OpenAlex ID: W4407181223