ed/Indexed in Science Citation Index Expanded, SCOPUS, EBSCO and INSPEC (Institution of Electrical Engineers)

ed/Indexed in Science Citation Index Expanded, SCOPUS, EBSCO and INSPEC (Institution of Electrical Engineers)

ed/Indexed in Science Citation Index Expanded, SCOPUS, EBSCO and INSPEC (Institution of Electrical Engineers)

ed/Indexed in Science Citation Index Expanded, SCOPUS, EBSCO and INSPEC (Institution of Electrical Engineers)

Motion control systems represent a main subsystem for majority of processing systems that can be found in the industrial sector. These systems are concerned with the actuation of all devices in the manufacturing process such as machines, robots, conveyor systems and pick and place mechanisms such that they satisfy certain motion requirements, e.g., the pre specified reference trajectories are followed along with delivering the proper force or torque to the point of interest at which the process occurs. In general, the aim of force/torque control is to impose the desired force on the environment even if the environment has dynamical motion.

This work attempts to achieve precise motion control using parallel robots with manufacturing tolerances and inaccuracies by migrating the measurements from their joint space to task space in order to decrease control system's sensitivity to any kinematical uncertainty rather than calibrating the parallel plant. The problem of dynamical model uncertainties and its effect on the derivation of the control law is also addressed in this work through disturbance estimation and compensation. Eventually, both task space measurement and disturbance estimation are combined to formulate a control framework that is unsensitive to either kinematical and dynamical system uncertainties.