Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models

Inverse dynamics and robust sliding mode control of a planar parallel (2-PRP and 1-PPR) robot augmented with a nonlinear disturbance observer

“…i.e., in this study, the end-effector desired trajectory is the same as the case discussed earlier in sub Section 4.1. In addition to the above benchmark comparisons based on simulations, the proposed controller performance is compared with other recent developed controllers in the robotics area for prototype experiments for better lucidity on the affirmative aspects of the proposed controller, namely an indirect adaptive controller based on extended Kalman filter (IAC-EKF) [41], continuous finite-time controller based on terminal sliding mode controller (CFTTSMC) [52], a PD with sliding mode controller (PD + SMC) [53], a regressor matrix based adaptive controller (RMAC) [54], adaptive sliding mode controller (ASMC) [55] and computed torque controller with disturbance observer (CTC + DOB) [56], and their control vectors along with proposed controller (PC) are given as: …”

Inverse dynamics and control of a 3-DOF planar parallel (U-shaped 3-PPR) manipulator

“…Refs. [41][42][43] represent this trend to a great extent where these adaptive control strategies have been applied to parallel manipulators. Sliding mode control is an interesting approach for nonlinear systems and it is a tool for effective robust control for nonlinear systems for efficacy against uncertain parameters and load variations [44].…”

Simplified approach for dynamics estimation of a minor mobility parallel robot

“…Their simplification was carried on by specific simulations which allowed to separately consider the different terms of the dynamics model, similarly to what is experimentally done in the present work. These and many others have been the examples of dynamic control experiences on PKMs [26][27][28][29][30], denoting a significant and keen scientific interest on this topic.…”