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Parallel robots have recently arisen as an interesting robotic architecture capable of performing task at high speed and precision. In order to exploit all the potential of these mechanism, model based control approaches are required. However, due to their complex structure, kinematic and dynamic modelling is a complex task, which usually leads to models with parameter uncertainties. In order to reduce the effect of parameter uncertainties, in this paper a redundant dynamic model based Extended CTC approach is proposed, and its stability and sensitivity analyzed for the 3RRR parallel robot. Results show that this approach provides more robustness than classical CTC approach to model parameter uncertainties.