The Dual Space Computed Torque Control aims at controlling the Adept Quattro parallel robot in the Cartesian space, in order to improve the accuracy of the motions.

Without the platform and the outer arms, the Cartesian error in the direction of the motion is divided by about a 4.4 factor. In Z-direction, the error is divided about by 5. However, we have noticed that the orientation error is multiplied by a factor from 1.25 to 1.71, which should be reduced in future work. In the case of combined motions in the X- and Y- directions together, instabilities appear and will be investigated. An experiment using the Dual Space Control with the outer arms and the platform let hope to correct well inertial effects of the platform thanks to Cartesian feed forwards.

Those preliminary results of the Dual Space Control are really promising, we hope improving a lot the performances of the Adept Quattro robot.