In this brief paper, potential energy shaping of underactuated parallel robots (UPRs) based
on the method called interconnection and damping assignment passivity-based control (IDA …

Cooperative coevolutionary algorithms are popular to solve large-scale dynamic
optimization problems via divide-and-conquer mechanisms. Their performance depends on …

Actuator limitations hinder high-performance control of robotic manipulators. The problem is
particularly challenging in case of underactuated robots where the issue has received less …

A Cable-Driven Parallel Robot (CDPR) is a special type of parallel robot actuated by elastic
cables instead of rigid links, which brings uncertainties of model nonlinearities and structural …

Cable-Driven Parallel Mechanisms (CDPMs) are subject to collision-free constraints from
birth to the present. The collision-free constraints confine the workspace of CDPMs. To …

This paper proposes a novel adaptive feedback sliding mode control for parallel kinematic
manipulators (PKMs), built on the conventional model-based sliding mode control. This …

Previous current-based dynamic identification methods suffer from coupled motor-side
uncertainties, imprecise joint drive gains, and current noises. The combined identification …

Point‐to‐point control of underactuated mechanical systems is a challenging problem,
especially if some of the system's parameters are uncertain. A popular method to stabilize …

For the existing adaptive robot control methods considering kinematic and dynamic
uncertainties, the strict persistent excitation is necessary for parameter convergence. To …

This paper deals with robust-adaptive control of Parallel Kinematic Manipulators (PKMs),
where a novel super-twisting L_1 adaptive controller is proposed. The objective is to …