Comprehensive Review of Control Techniques for Various Mechanisms of Parallel Robots

摘要

This study provides a literature review of control schemes associated with parallel robots. Various types of parallel robots have been discussed, including the Delta Robot, 2 DOF Parallel Robot, 3 DOF Parallel Robot, 4 DOF Parallel Robot, the R4 Redundantly Parallel Robot, the 5R Parallel Robot, 6 DOF Parallel Robot (Hexa Robot), Cable-Driven Parallel Robot, and Parallel Quadruped Robot. Additionally, an overview of the control structuring within these systems has been provided. This study covers the developments occurring between 2008 and 2024. These controllers are PI Control, PID Control, Genetic Algorithm Optimized PID Control, Extended PD Control, Augmented Nonlinear PD Control, Model-Based PD Control, Synchronous PD Control Based on a Time-Delay Estimator, Identification – Based Control, Image-Based Control, Lagrangian Formulation-Based Control, Observers – Based Control, Optimal PID Control, Anti-Windup Based PID Control, Model-Based Control, PLC – Based Control Architecture, Feedback PID Control, and Computed Torque Control, Hedge Algebras Control, B-Spline Neural Network Control, Fuzzy Logic Control, Model-Based control, Cooperative Control, Brain Emotional Learning-Based Intelligent Control, Nonlinear Model Predictive Control, Fuzzy Logic – Based Sliding Surface Control, Fuzzy PID Control, Fuzzy- Based PID Control, Interval Type-2 Fuzzy Logic Control Fuzzy Logic based Neural Network Control, Nonlinear Model Predictive Control, Synchronous Sliding Mode Control, Observer – Based Sliding Mode Control, Sliding Mode – Based on Backstepping Control, LQ Optimal Control, Adaptive Fuzzy Control, Rise Feedback Control, Dual-Space Feedforward Control, Dual-Space Feedforward Control in the Cartesian Space, Dual-Space Feedforward Control, Dual Mode Adaptive Control, Nonlinear Dual Mode Adaptive Control, Optimized Fuzzy Adaptive PID Control, Adaptive Position-Force Control, Adaptive Admittance Control, and Robust Nonlinear Adaptive Control, Adaptive Robust Control, Adaptive Control, and Adaptive Terminal Sliding Mode Control, Robust control, fault tolerant controllers, and passivity control. The primary contribution is a literature review of control-based strategies for parallel robots, designed to inform those interested in control-oriented parallel robot research.