[{"data":1,"prerenderedAt":239},["ShallowReactive",2],{"publication-2025\u002F6-dof-parallel-robot-under-partial-observation-modelling-control-and-trajectory":3,"publication-members":73},{"_path":4,"_dir":5,"_draft":6,"_partial":6,"_locale":7,"title":8,"description":9,"_hidden":6,"authors":10,"authors_orcid":21,"year":29,"doi":30,"openalex_id":31,"venue":22,"abstract_screenshot":22,"keywords":32,"body":42,"_type":66,"_id":67,"_source":68,"_file":69,"_stem":70,"_extension":71,"locale":72},"\u002Fpublications\u002F2025\u002F6-dof-parallel-robot-under-partial-observation-modelling-control-and-trajectory","2025",false,"","6-DOF Parallel Robot under Partial Observation: Modelling, Control and Trajectory Planning","Due to the coupling characteristics of kinematics and dynamics, six-degree-of-freedom parallel robots face challenges in achieving real-time and high-precision velocity and acceleration control. The existing methods limit their applications in scenarios such as admittance control, dynamic operational environments, and multi-robot collaboration due to the excessive computational burden brought by complex models. In this paper, a novel state estimation and control method based on partial observational data is proposed. Firstly, the on-platform state estimation is accomplished precisely in real time by employing the extended Kalman Filter to integrate data from both the inertial measurement unit and the camera. Then, a direct method maps the state of the upper platform to the actuator using estimated data, eliminating the need for traditional leg length data, reducing the system cost, and shortening the response time. The feed-forward velocity control strategy is proposed to enhance the dynamic performance and robustness of the system, enabling it to quickly adapt to external changes and maintain six degrees-of-freedom of compensation for base disturbance. Finally, quintic spline trajectory planning is adopted to plan the robot motion trajectory, which significantly improves motion efficiency and reduces energy consumption. Experiments on the Stewart platform have proved the feasibility and effectiveness of the proposed method. The source code is available as open source at https:\u002F\u002Fgithub.com\u002FControlSystemLab\u002FStewart-Control.",[11,12,13,14,15,16,17,18,19,20],"Xiao, Junlin","Tian, Xinyu","Jia, Fuhua","Yang, Mengshen","Rushworth, Adam","Kwong, Chiew Foong","Ijaz, Salman","Chen, Silu","Chin-Yin, Chen","Yang, Guilin",[22,23,22,24,25,22,26,27,22,28],null,"0009-0007-7637-7962","0000-0002-8355-2227","0000-0003-3803-7549","0000-0003-1483-4754","0000-0003-2548-7196","0000-0001-6144-3401",2025,"https:\u002F\u002Fdoi.org\u002F10.1109\u002Ficiea65512.2025.11149155","W4414140576",[33,34,35,36,37,38,39,40,41],"Control theory (sociology)","Robustness (evolution)","Kinematics","Robot","Inertial measurement unit","Motion planning","Trajectory","Kalman filter","Acceleration",{"type":43,"children":44,"toc":63},"root",[45],{"type":46,"tag":47,"props":48,"children":49},"element","p",{},[50,53,61],{"type":51,"value":52},"text","Due to the coupling characteristics of kinematics and dynamics, six-degree-of-freedom parallel robots face challenges in achieving real-time and high-precision velocity and acceleration control. The existing methods limit their applications in scenarios such as admittance control, dynamic operational environments, and multi-robot collaboration due to the excessive computational burden brought by complex models. In this paper, a novel state estimation and control method based on partial observational data is proposed. Firstly, the on-platform state estimation is accomplished precisely in real time by employing the extended Kalman Filter to integrate data from both the inertial measurement unit and the camera. Then, a direct method maps the state of the upper platform to the actuator using estimated data, eliminating the need for traditional leg length data, reducing the system cost, and shortening the response time. The feed-forward velocity control strategy is proposed to enhance the dynamic performance and robustness of the system, enabling it to quickly adapt to external changes and maintain six degrees-of-freedom of compensation for base disturbance. Finally, quintic spline trajectory planning is adopted to plan the robot motion trajectory, which significantly improves motion efficiency and reduces energy consumption. Experiments on the Stewart platform have proved the feasibility and effectiveness of the proposed method. The source code is available as open source at ",{"type":46,"tag":54,"props":55,"children":59},"a",{"href":56,"rel":57},"https:\u002F\u002Fgithub.com\u002FControlSystemLab\u002FStewart-Control",[58],"nofollow",[60],{"type":51,"value":56},{"type":51,"value":62},".",{"title":7,"searchDepth":64,"depth":64,"links":65},2,[],"markdown","content:publications:2025:6-dof-parallel-robot-under-partial-observation-modelling-control-and-trajectory.md","content","publications\u002F2025\u002F6-dof-parallel-robot-under-partial-observation-modelling-control-and-trajectory.md","publications\u002F2025\u002F6-dof-parallel-robot-under-partial-observation-modelling-control-and-trajectory","md","en",[74,83,89,99,106,114,126,135,142,149,156,163,170,181,190,201,210,218],{"_path":75,"title":76,"name":77,"role":78,"email":7,"image":79,"category":80,"order":81,"_id":82},"\u002Fmembers\u002Falumni\u002Frui-li","Research Assistant from Oct.,2023 to June.,2024","Rui Li","Research Assistant (Alumni)","\u002Fimages\u002Fdefault.jpg","alumni","17","content:members:alumni:rui-li.md",{"_path":84,"title":85,"name":86,"role":78,"email":7,"image":79,"category":80,"order":87,"_id":88},"\u002Fmembers\u002Falumni\u002Fyuhao-shi","Research Assistant from Feb.,2023 to Nov.,2024","Yuhao Shi","18","content:members:alumni:yuhao-shi.md",{"_path":90,"title":91,"name":92,"role":93,"email":94,"image":95,"category":96,"order":97,"_id":98},"\u002Fmembers\u002Fresearch-assistants\u002Fhang-xu","Research Assistant - B.Sc student in Computer Science","Hang Xu","Research Assistant","hang.xu@nottingham.edu.cn","assets\u002Fhangxu.jpg","research-assistants","14","content:members:research-assistants:hang-xu.md",{"_path":100,"title":93,"name":101,"role":93,"email":102,"image":103,"category":96,"order":104,"_id":105},"\u002Fmembers\u002Fresearch-assistants\u002Fxing-hou","Xing Hou","xing.hou@nottingham.edu.cn","assets\u002Fxinghou.png","15","content:members:research-assistants:xing-hou.md",{"_path":107,"title":108,"name":109,"role":110,"email":111,"image":79,"category":96,"order":112,"_id":113},"\u002Fmembers\u002Fresearch-assistants\u002Fxiuqi-wang","Intern Research Assistant - B.Sc student in Department of Electrical and Electronic Engineering","Xiuqi Wang","Intern Research Assistant","xiuqi.wang@nottingham.edu.cn","16","content:members:research-assistants:xiuqi-wang.md",{"_path":115,"title":116,"name":117,"role":118,"email":119,"scholar":120,"image":121,"category":122,"order":123,"orcid":124,"_id":125},"\u002Fmembers\u002Fresearch-students\u002Ffuhua-jia","PhD Student, Department of Mechanical, Materials and Manufacturing Engineering","Fuhua Jia","PhD Student","Fuhua.JIA@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=Zz2ccJ4AAAAJ&hl","assets\u002Fjiafuhua.png","research-students","09","0009-0002-6693-9371","content:members:research-students:fuhua-jia.md",{"_path":127,"title":128,"name":129,"role":130,"email":131,"image":132,"category":122,"order":133,"_id":134},"\u002Fmembers\u002Fresearch-students\u002Fhao-wang","Master by Research Student, Department of Mechanical, Materials and Manufacturing Engineering","Hao Wang","Master by Research Student","hao.wang@nottingham.edu.cn","assets\u002Fwanghao.png","12","content:members:research-students:hao-wang.md",{"_path":136,"title":116,"name":137,"role":118,"email":138,"image":139,"category":122,"order":140,"_id":141},"\u002Fmembers\u002Fresearch-students\u002Fjunlin-xiao","Junlin Xiao","junlin.xiao@nottingham.edu.cn","assets\u002Fjunlin-xiao.jpg","10","content:members:research-students:junlin-xiao.md",{"_path":143,"title":116,"name":144,"role":118,"email":145,"image":146,"category":122,"order":147,"_id":148},"\u002Fmembers\u002Fresearch-students\u002Fliming-li","Liming Li","Liming.Li@nottingham.edu.cn","assets\u002Fliming-li.jpg","11","content:members:research-students:liming-li.md",{"_path":150,"title":116,"name":151,"role":118,"email":152,"image":153,"category":122,"order":154,"_id":155},"\u002Fmembers\u002Fresearch-students\u002Fmengshen-yang","Mengshen Yang","Mengshen.Yang@nottingham.edu.cn","assets\u002Fyangmengshen.png","07","content:members:research-students:mengshen-yang.md",{"_path":157,"title":128,"name":158,"role":130,"email":159,"image":160,"category":122,"order":161,"_id":162},"\u002Fmembers\u002Fresearch-students\u002Fruoxu-xiao","Ruoxu Xiao","ruoxu.Xiao@nottingham.edu.cn","assets\u002Fruoxuxiao.jpg","13","content:members:research-students:ruoxu-xiao.md",{"_path":164,"title":116,"name":165,"role":118,"email":166,"image":167,"category":122,"order":168,"_id":169},"\u002Fmembers\u002Fresearch-students\u002Ftianyi-chen","Tianyi Chen","Tianyi.Chen@nottingham.edu.cn","assets\u002Fchentianyi.png","08","content:members:research-students:tianyi-chen.md",{"_path":171,"title":172,"name":173,"role":174,"email":175,"scholar":176,"image":177,"category":178,"order":179,"orcid":25,"_id":180},"\u002Fmembers\u002Fstaff\u002Fadam-rushworth","Associate Professor in Materials and Manufacturing, PGCHE","Dr Adam Rushworth","Deputy Director of Control System Lab","Adam.Rushworth@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=XvRnzQYAAAAJ&hl","assets\u002Fadam-rushworth.webp","staff","02","content:members:staff:adam-rushworth.md",{"_path":182,"title":183,"name":184,"role":183,"email":185,"scholar":186,"image":187,"category":178,"order":188,"_id":189},"\u002Fmembers\u002Fstaff\u002Fahmed-abdelwahed","Assistant Professor","Dr Ahmed Nasr Abdelwahed","Ahmed.Abdelwahed@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?hl=zh-CN&user=9cCVF5cAAAAJ","assets\u002Fahmed.webp","06","content:members:staff:ahmed-abdelwahed.md",{"_path":191,"title":192,"name":193,"role":194,"email":195,"scholar":196,"image":197,"category":178,"order":198,"orcid":199,"_id":200},"\u002Fmembers\u002Fstaff\u002Fchiew-foong-kwong","Head of Department of Electrical and Electronic Engineering","Dr Chiew Foong Kwong","Associate Professor, Head of Department","Chiew-Foong.Kwong@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=DiX0phAAAAAJ&hl=zh-CN&oi=ao","assets\u002Fcf.jpg","03","0000-0001-7857-511X","content:members:staff:chiew-foong-kwong.md",{"_path":202,"title":203,"name":204,"role":203,"email":205,"scholar":206,"image":207,"category":178,"order":208,"_id":209},"\u002Fmembers\u002Fstaff\u002Fdonglei-sun","Assistant Professor of Aerospace Aerodynamics","Dr Donglei Sun","Donglei.Sun@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?hl=zh-CN&user=C4EmdWMAAAAJ","assets\u002Fdonglei-sun.webp","05","content:members:staff:donglei-sun.md",{"_path":211,"title":203,"name":212,"role":203,"email":213,"scholar":214,"image":215,"category":178,"order":216,"_id":217},"\u002Fmembers\u002Fstaff\u002Frichard-adjei","Dr Richard Amankwa Adjei","Richard-Amankwa.Adjei@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=TshunUEAAAAJ&hl=zh-CN&oi=ao","assets\u002Frichard.webp","04","content:members:staff:richard-adjei.md",{"_path":219,"title":220,"name":221,"role":222,"email":223,"scholar":224,"orcid":26,"image":225,"category":178,"interests":226,"order":237,"_id":238},"\u002Fmembers\u002Fstaff\u002Fsalman-ijaz","Assistant Professor (Lecturer) in Control of Aerospace Systems","Dr Salman Ijaz","Director of Control System Lab","salman.ijaz@nottingham.edu.cn","https:\u002F\u002Fscholar.google.com\u002Fcitations?user=77HGe2UAAAAJ&hl","assets\u002Fsalman-ijaz.webp",[227,228,229,230,231,232,233,234,235,236],"Fault tolerant control of aircraft","Linear parameter varying control of nonlinear systems","Fractional order modeling and control of aircraft system","Control allocation Scheme","Integral sliding mode control","Robust control","Aircraft actuation system (dissimilar redundant actuation system)","Aircraft dynamics and control","Unmanned aerial vehicle system","More Electric Aircrafts","01","content:members:staff:salman-ijaz.md",1782613929843]