Nonsingular Fast Terminal Sliding Mode Control of a Parallel Robot With Workspace Optimization and Trajectory Planning

ABSTRACT This paper presents a nonsingular fast terminal sliding mode control for the PAR 4 parallel robot, focusing on workspace optimization and trajectory planning. First, an analytical inverse kinematic model is derived to calculate the workspace, which is then extended using parameter optimization techniques. Next, a trajectory planning method based on the S‐curve approach is proposed to generate the desired path, with special attention to reducing the cycle time of pick‐and‐place operations using sequential quadratic programming method. Finally, a nonsingular fast terminal sliding mode control strategy is suggested to enable the robot to accurately track the generated trajectory. The stability of the closed‐loop system is analyzed using Lyapunov theory, and the effectiveness of the controller is validated through simulation results.