Design and Implementation of a Conventional Sliding Mode Controller for a Redundant Planar Parallel Robot

Design and Implementation of a Conventional Sliding Mode Controller for a Redundant Planar Parallel Robot | 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 Design and Implementation of a Conventional Sliding Mode Controller for a Redundant Planar Parallel Robot Arash Rahmani, Soheil Sheikh Ahmadi, Abbas Motalebi This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-7662255/v1 This work is licensed under a CC BY 4.0 License Status: Under Revision Version 1 posted 13 You are reading this latest preprint version Abstract „ These authors contributed equally to this work. n this paper, the design and implementation of a planar parallel robot with one and two levels of redundancy, represented by 3RRR, 4RRR and 5RRR configurations , respectively, have been studied. These redundancies have been introduced to enhance the accuracy, reliability, and stability of the robot’s performance. The Conventional Sliding Mode Control (CSMC) method has been employed for controlling these robots. The results of simulations and experiments demonstrate that the CSMC method exhibits superior performance in handling dynamic uncertainties and external disturbances, resulting in reduced trajectory tracking error and improved system stability. Furthermore, this method has effectively suppressed the oscillations caused by the complex dynamics of the parallel robot, achieving more precise and faster responses. Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Under Revision Version 1 posted Editorial decision: Revision requested 05 Apr, 2026 Reviews received at journal 29 Mar, 2026 Reviewers agreed at journal 28 Mar, 2026 Reviewers agreed at journal 29 Oct, 2025 Reviewers agreed at journal 27 Oct, 2025 Reviews received at journal 24 Oct, 2025 Reviews received at journal 18 Oct, 2025 Reviewers agreed at journal 27 Sep, 2025 Reviewers agreed at journal 26 Sep, 2025 Reviewers invited by journal 26 Sep, 2025 Editor assigned by journal 20 Sep, 2025 Submission checks completed at journal 20 Sep, 2025 First submitted to journal 20 Sep, 2025 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. 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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-7662255","acceptedTermsAndConditions":true,"allowDirectSubmit":false,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":525447926,"identity":"5451a104-9093-4319-b056-3435fca779d5","order_by":0,"name":"Arash Rahmani","email":"","orcid":"","institution":"Urmia University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Arash","middleName":"","lastName":"Rahmani","suffix":""},{"id":525447927,"identity":"283997c4-211a-45e5-b399-6790d34d8c69","order_by":1,"name":"Soheil Sheikh 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