{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,12]],"date-time":"2025-12-12T13:24:21Z","timestamp":1765545861605,"version":"3.41.2"},"reference-count":25,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2013,10,14]],"date-time":"2013-10-14T00:00:00Z","timestamp":1381708800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2013,10,14]]},"abstract":"<jats:sec>\n               <jats:title content-type=\"abstract-heading\">Purpose<\/jats:title>\n               <jats:p> \u2013 Based on the inverse kinematics and task space dynamic model, this paper aims to design a high-precision trajectory tracking controller for a 2-DoF translational parallel manipulator (TPM) driven by linear motors. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title>\n               <jats:p> \u2013 The task space dynamic model of a 2-DoF TPM is derived using Lagrangian equation of the first type. A task space dynamic model-based feedforward controller (MFC) is designed, which is combined with a cascade PID\/PI controller and velocity feedforward controller (VFC) to construct a hybrid PID\/PI+VFC\/MFC controller. The hybrid controller is implemented in MATLAB\/dSPACE real-time control platform. Experiment results are given to validate the effectiveness and industrial applicability of the hybrid controller. <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Findings<\/jats:title>\n               <jats:p> \u2013 The MFC can compensate for the nonlinear dynamic characteristics of a 2-DoF TPM and achieve better tracking performance than the conventional acceleration feedforward controller (AFC). <\/jats:p>\n            <\/jats:sec>\n            <jats:sec>\n               <jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title>\n               <jats:p> \u2013 The task space dynamic model-based hybrid PID\/PI+VFC\/MFC controller is proposed for a 2-DoF linear-motor-driven TPM, which reduces the tracking error by at least 15 percent compared with conventional hybrid PID\/PI+VFC\/AFC controller. This control scheme can be extended to high-speed and high-precision trajectory tracking control of other parallel manipulators by reprogramming the feedforward signals of traditional cascade PID\/PI controller.<\/jats:p>\n            <\/jats:sec>","DOI":"10.1108\/ir-01-2013-307","type":"journal-article","created":{"date-parts":[[2013,10,15]],"date-time":"2013-10-15T06:36:19Z","timestamp":1381818979000},"page":"597-609","source":"Crossref","is-referenced-by-count":17,"title":["Dynamic analysis and model-based feedforward control of a 2-DoF translational parallel manipulator driven by linear 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