Modeling and Control of a Coaxial Parallel Spherical Mechanism

This paper presents a method for modeling and controlling a coaxial parallel spherical mechanism. This mechanism consists of elements connected to allow them to move relative to each other in a parallel and coaxial manner, forming a spherical structure capable of rotating and moving in multiple directions. The operation of the mechanism is controlled by a high-order sliding controller to improve control performance, reduce chattering phenomena, and mitigate disturbances during operation. The system’s stability using the suggested control approach is demonstrated and analyzed in detail through experimental validation on a real-time controller, TMS320F28379D.