Abstract
Parallel robots offer high precision, stiffness, and dynamic performance, but their nonlinear and coupled dynamics pose challenges for real-time trajectory tracking. This paper presents a hybrid control framework that combines joint-space and task-space controllers to simultaneously manage actuator dynamics and end-effector motion. By leveraging both control domains, the proposed approach addresses the limitations of single-space strategies. Stability is established via Lyapunov analysis, and experimental results confirm superior tracking accuracy compared to conventional acceleration-based controllers, demonstrating effectiveness for high-precision, dynamic applications.
| Original language | English |
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| Title of host publication | ICHORA 2025 - 2025 7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9798331510886 |
| DOIs | |
| Publication status | Published - 2025 |
| Event | 7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, ICHORA 2025 - Ankara, Turkey Duration: 23 May 2025 → 24 May 2025 |
Publication series
| Name | ICHORA 2025 - 2025 7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Proceedings |
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Conference
| Conference | 7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, ICHORA 2025 |
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| Country/Territory | Turkey |
| City | Ankara |
| Period | 23/05/25 → 24/05/25 |
Bibliographical note
Publisher Copyright:© 2025 IEEE.
Keywords
- hybrid control
- joint-space control
- parallel manipulators
- task-space control