Tracking control of a parallel robot in the task space

The tracking control problem of a parallel robot including the electrical actuator dynamics is addressed in the task space. For the electrically-actuated robots, we design a nonlinear control law for armature input voltages. The control technique consists of a cartesian tracking control and a force convergent control. The model obtained is in standard form to allow the application of singular perturbation methods. To validate the proposed corrective controller, a passivity concept and singular perturbation techniques are combined successfully. Simulation results show a good behavior of the proposed task space tracking controller