Title: Control design approaches for parallel robot manipulators: a review

Authors: Ahmad Taher Azar; Quanmin Zhu; Alaa Khamis; Dongya Zhao

Addresses: Faculty of Computers and Information, Benha University, Egypt; Nanoelectronics Integrated Systems Center (NISC), Nile University, Egypt ' Department of Engineering Design and Mathematics, University of the West of England, Bristol, UK ' Suez University, Egypt; University of Waterloo, Canada ' College of Chemical Engineering, China University of Petroleum, Qingdao, China

Abstract: In this article, different control design approaches for parallel robot manipulators are presented with two distinguished classes of control strategies in the literature. These are the model-free control and the dynamic control strategy, which is mainly a model-based scheme, and is mostly the alternative when the control requirements are more stringent. The authors strongly believe that this paper will be helpful for researchers and engineers in the field of robotic systems.

Keywords: parallel manipulator; serial manipulator; model-free control techniques; model-based control techniques; real-time dynamic substructuring; RTDS.

DOI: 10.1504/IJMIC.2017.086563

International Journal of Modelling, Identification and Control, 2017 Vol.28 No.3, pp.199 - 211

Received: 10 Oct 2016
Accepted: 12 Oct 2016
Published online: 12 Sep 2017 *

Full-text access for editors Full-text access for subscribers Purchase this article Comment on this article