Novel linear algebra model-based position controller for high-precision 4-DOF Parallel robots

Novel linear algebra model-based position controller for high-precision 4-DOF Parallel robots | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Novel linear algebra model-based position controller for high-precision 4-DOF Parallel robots Gustavo Scaglia, Valles Miquel, Miguel A. Díaz-Rodríguez, Jose L. Pulloquinga, and 2 more This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-6328917/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract Parallel robots (PRs) have gained increasing attention in various fields owing to their inherent capabilities of high rigidity, load capacity, speed, and precision. However, PRs have several limitations because the development of their forward kinematic and dynamic models to implement model-based control schemes is complex. In particular, obtaining a dynamic model for real-time model-based control is challenging owing to the nonlinearity of the model. Thus, a controller for the trajectory tracking of parallel robots is proposed to overcome the current limitations based on a linear algebra-based controller (LABC) design technique that incorporates the dynamic model into the control scheme. The stability analysis of the controller demonstrated that it is globally uniformly asymptotically stable. A real-time position-control scheme based on the proposed approach was implemented in an actual PR to validate and analyze its response. The PR has four degrees of freedom (DOF): two translations and two rotation movements. Simulations and experiments confirm the feasibility and effectiveness of the proposed controller. The proposed strategy allows intuitive adjustment of the parameters, the computational cost is low, and the robot can follow the desired trajectory precisely, obtaining errors of the order of millimeters in linear movements and of the order of tenths of radians in angular movements. This study advances the current state-of-the-art in PR control in the context of model-based trajectory controllers. Parallel robots Robot control Linear algebra theory Model-based control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-6328917","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":446535551,"identity":"993769f2-82b8-492a-afea-a3b2f10366c4","order_by":0,"name":"Gustavo Scaglia","email":"","orcid":"","institution":"National University of San Juan","correspondingAuthor":false,"prefix":"","firstName":"Gustavo","middleName":"","lastName":"Scaglia","suffix":""},{"id":446535552,"identity":"bb4182e8-11e2-4c30-83e2-b2a87191bf8a","order_by":1,"name":"Valles Miquel","email":"","orcid":"","institution":"Universitat Politècnica de València","correspondingAuthor":false,"prefix":"","firstName":"Valles","middleName":"","lastName":"Miquel","suffix":""},{"id":446535555,"identity":"ddae5dc5-9cdf-481f-81cc-8007a7f847f3","order_by":2,"name":"Miguel A. 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However, PRs have several limitations because the development of their forward kinematic and dynamic models to implement model-based control schemes is complex. In particular, obtaining a dynamic model for real-time model-based control is challenging owing to the nonlinearity of the model. Thus, a controller for the trajectory tracking of parallel robots is proposed to overcome the current limitations based on a linear algebra-based controller (LABC) design technique that incorporates the dynamic model into the control scheme. The stability analysis of the controller demonstrated that it is globally uniformly asymptotically stable. A real-time position-control scheme based on the proposed approach was implemented in an actual PR to validate and analyze its response. The PR has four degrees of freedom (DOF): two translations and two rotation movements. Simulations and experiments confirm the feasibility and effectiveness of the proposed controller. 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