Performance Enhancement of a Stewart Platform Using Joint-Task Space Hybrid Control

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dc.authorid0009-0005-8526-8747
dc.contributor.authorSincar, Eyyup
dc.contributor.authorBayraktaroglu, Zeki Y.
dc.contributor.authorBaran, Eray A.
dc.contributor.authorEmre, Evren
dc.date.accessioned2026-04-04T18:55:50Z
dc.date.available2026-04-04T18:55:50Z
dc.date.issued2025
dc.departmentİstanbul Bilgi Üniversitesi
dc.description7th International Congress on Human-Computer Interaction, Optimization and Robotic Applications-ICHORA -- MAY 23-24, 2025 -- Ankara, TURKIYE
dc.description.abstractParallel 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.
dc.description.sponsorshipSANLAB Simulation AS
dc.description.sponsorshipThis work is part of the author's Ph.D. research and is partially supported by SANLAB Simulation AS.
dc.description.sponsorshipInstitute of Electrical and Electronics Engineers Inc,Ted University
dc.identifier.doi10.1109/ICHORA65333.2025.11016996
dc.identifier.doi10.1109/ICHORA65333.2025.11016996
dc.identifier.isbn979-8-3315-1089-3
dc.identifier.isbn979-8-3315-1088-6
dc.identifier.issn2996-4385
dc.identifier.scopus2-s2.0-105008417792
dc.identifier.scopusqualityN/A
dc.identifier.urihttps://doi.org/10.1109/ICHORA65333.2025.11016996
dc.identifier.urihttps://hdl.handle.net/11411/10580
dc.identifier.wosWOS:001533792800028
dc.identifier.wosqualityN/A
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.language.isoen
dc.publisherIeee
dc.relation.ispartof2025 7Th International Congress on Human-Computer Interaction, Optimization and Robotic Applications, Ichora
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.snmzKA_WoS_20260402
dc.snmzKA_Scopus_20260402
dc.subjectParallel Manipulators
dc.subjectHybrid Control
dc.subjectTask-Space Control
dc.subjectJoint-Space Control
dc.titlePerformance Enhancement of a Stewart Platform Using Joint-Task Space Hybrid Control
dc.typeConference Object

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