This paper addresses the regulation problem of parallel robots by a proportional derivative
plus desired gravity compensator (PD-DGC) controller. Due to inaccurate measurements …

Uncertainties in the kinematic and dynamic parameters of a parallel robot are unavoidable.
The problem is more crucial in the cases where the manipulator interacts with the …

A proportional-derivative (PD) control with on-line gravity compensation is proposed for
regulation tasks of robot manipulators with elastic joints. The work extends a previous PD …

Uncertainties in dynamic and kinematic parameters are unavoidable components in the
control of robotic manipulators. Although calibration is a well-known method to reject this …

This paper presents a model-free robust nonlinear PD (R-NPD) controller for cable-driven
parallel manipulators (CDPMs) in joint space. Generally, in various mechanical …

In this paper, the trajectory tracking control of robot manipulators is studied from the
theoretical and practical point of view. By using the theory of singularly perturbed systems, a …

This paper deals with the design of a robust control scheme for a suspended Cable-Driven
Parallel Robot (CDPR), composed of eight cables and a moving platform (MP), suitable for …

A parallel-wire driven mechanism uses flexible wires instead of heavy rigid links. In this
paper, we propose a robust point-to-point (PTP) position control method in the task-oriented …

A proportional-derivative (PD) control with online gravity compensation is proposed for
regulation tasks of robot manipulators with flexible links. The control law is an extension of a …

In this article, the problem of robust trajectory tracking, for a parallel robot is tackled via an
observer‐based active disturbance rejection controller. The proposed design method is …