Adaptive control of parallel robots with uncertain kinematics and dynamics

One of the most challenging issues in adaptive control robot manipulators with kinematic uncertainties is requirement inverse Jacobian matrix regressor form. This inevitable case parallel robots, whose dynamic equations are written directly task space. In this paper, an controller designed for robots based on representation form, such that asymptotic trajectory tracking ensured. The main idea separation determinant and adjugate then organize new forms. Simulation experimental results a 2--DOF R\underline{P}R 3--DOF redundant cable driven robot, verify promising performance proposed methods.