Table of Contents

1. Introduction
2. Literature review about modelling and control of PKMs
3. Description and Modelling of Experimental platforms
4. Proposed Robust Control Solutions
5. Numerical simulations and Real-time experiments
General Conclusion
Appendices
A Proof of lemma 1
B Trajectory points for SPIDER4
B1 Trajectory points for Scenario 1
B2 Trajectory points for scenario 2

About the Author

Jonatan Martin Escorcia Hernández received his B.Sc in Robotic Engineering, M.Sc. in Automation and Control, and Ph.D. in Optomechatronics from the Polytechnic University of Tulancingo (UPT), Tulancingo de Bravo, Mexico in 2013, 2017, and 2020, respectively. He is currently working as a part time professor at the UPT, teaching classes in robotics engineering. His research interests include modeling, mechanical design, and nonlinear control of robotics systems. Ahmed Chemori received M.Sc. and Ph.D. degrees both in automatic control from the Grenoble Institute of Technology, Grenoble, France, in 2001 and 2005, respectively. During the year 2004/2005 he has been a Research and Teaching assistant at Laboratoire de Signaux et Systèmes (LSS - Centrale Supelec) and the University Paris 11. Then he joined in 2006 Gipsa-Lab (Former LAG) as a CNRS postdoctoral fellow. He is currently a senior Research Scientist in automatic control and robotics with LIRMM, University of Montpellier, CNRS. His research interests include nonlinear (robust, adaptive and predictive) control and their real-time applications in complex robotic systems.

Hipólito Aguilar Sierra received the B.Sc. degree in Mechatronics Engineering from UPIITA-IPN in 2009; and M.Sc. and Ph. D degrees both in Automatic Control from the CINVESTAV Zacatenco, Mexico City, Mexico, in 2011 and 2016, respectively. He is currently a Full-time professor at Faculty of Engineering from the La Salle Mexico University. His research interests include Medical robots, Rehabilitation robots, Exoskeleton robotics and Nonlinear control.