Abstract
The tracking control problem of a parallel robot including the electrical actuator dynamics is addressed in this paper. The proposed control law in armatures' input voltages is investigated with. the consideration of some inaccessible states such that velocities but under the assumption of an exact model knowledge. The formulated model is in standard form that allows the application of singular perturbations techniques. Computer simulations are performed on the electrically-driven six degrees-of-freedom (dof) parallel robot. The results show the efficiency of the two time-scale decomposition and the performance of the proposed controller-observer with a good trajectory tracking.