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    Enhanced performance of a parallel manipulator with hybrid joint-space and task-space control approaches ( Volume 43 , Issue 3 ,2025, pp. 1043 - 1066)
    (Cambridge Univ Press, 2025) Sincar, Eyyup; Bayraktaroglu, Zeki Y.; Baran, Eray A.; Emre, Evren
    [Abstract Not Available]
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    Performance Enhancement of a Stewart Platform Using Joint-Task Space Hybrid Control
    (Ieee, 2025) Sincar, Eyyup; Bayraktaroglu, Zeki Y.; Baran, Eray A.; Emre, Evren
    Parallel robots offer high precision, stiffness, and dynamic performance, but their nonlinear and coupled dynamics pose challenges for real-time trajectory tracking. This paper presents a hybrid control framework that combines joint-space and task-space controllers to simultaneously manage actuator dynamics and end-effector motion. By leveraging both control domains, the proposed approach addresses the limitations of single-space strategies. Stability is established via Lyapunov analysis, and experimental results confirm superior tracking accuracy compared to conventional acceleration-based controllers, demonstrating effectiveness for high-precision, dynamic applications.
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    Robust unified dual-domain control framework for high-performance parallel robots
    (Pergamon-Elsevier Science Ltd, 2026) Sincar, Eyyup; Bayraktaroglu, Zeki Y.; Baran, Eray A.; Emre, Evren
    This paper introduces a unified joint-task-space control framework for a 6-DoF Stewart platform that overcomes the limitations of pure joint-space methods, including inverse-kinematic ambiguities, configuration flips, and sensitivity to dynamic variations. The proposed architecture integrates a nonsingular fast terminal sliding mode (NFTSM) controller, a nonlinear disturbance observer, and model-based feedforward compensation in the joint space, together with a complementary NFTSM-based task-space controller that continuously refines end-effector motion through Jacobian feedback. A rigorous Lyapunov analysis establishes finite-time convergence and robustness under modeling uncertainties and external disturbances. Extensive experiments-including sinusoidal and square-wave tracking, frequency-sweep tests, and payload variations-demonstrate that the unified controller consistently achieves the lowest tracking errors, superior robustness to excitation frequency and load changes, and smoother actuator effort without increasing energy consumption. The results confirm the suitability of the proposed method for high-precision parallel manipulators operating in dynamic, uncertain, and disturbance-rich environments.