Sincar, EyyupBayraktaroglu, Zeki Y.Baran, Eray A.Emre, Evren2026-04-042026-04-042025979-8-3315-1089-3979-8-3315-1088-62996-4385https://doi.org/10.1109/ICHORA65333.2025.11016996https://hdl.handle.net/11411/105807th International Congress on Human-Computer Interaction, Optimization and Robotic Applications-ICHORA -- MAY 23-24, 2025 -- Ankara, TURKIYEParallel 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.eninfo:eu-repo/semantics/closedAccessParallel ManipulatorsHybrid ControlTask-Space ControlJoint-Space ControlConference Object2-s2.0-10500841779210.1109/ICHORA65333.2025.1101699610.1109/ICHORA65333.2025.11016996N/AN/AWOS:001533792800028