Submitted by Adriana Martinez (amartinez@unoeste.br) on 2017-09-04T20:00:15Z No. of bitstreams: 2 license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Marilda.pdf: 696658 bytes, checksum: 0c0c3380d242fc97692b0a24713bda46 (MD5) / Made available in DSpace on 2017-09-04T20:00:15Z (GMT). No. of bitstreams: 2 license_rdf: 0 bytes, checksum: d41d8cd98f00b204e9800998ecf8427e (MD5) Marilda.pdf: 696658 bytes, checksum: 0c0c3380d242fc97692b0a24713bda46 (MD5) Previous issue date: 2017-04-20 / In order for food to provide, maintain or recover health it is necessary that it presents satisfactory sanitary control. It is known that one of the possible causes of hospital infection is the consumption of contaminated food, thus, providing safe food is essential to hospital nutrition services. Among foodborne diseases, those of bacterial origin have been pointed out as the most widespread public health problem in the world, especially Staphylococcus aureus, bacteria found mainly in the nasal cavities, mouth and skin of the human population. In this context, contamination of food, handlers and utensils is an important link among food, patients and diseases transmitted by food. Therefore, the the objective of this is study is to investigate the presence of S. aureus in food handlers, equipment, counter tops and utensils of a hospital's nutrition service, as well as the resistance profile of the isolated for antimicrobials. Samples of the environment, hands and nasal mucosa of employees of a nutrition service were collected with two sterile swabs in two different periods of the year (March and June), resulting in a total of 134 samples, which were submitted to characterization tests Biochemistry and morphotinorial (staining of gram, catalase and coagulase tests in tube), phenotypic evaluation by drug diffusion technique and D-test approach, in addition to the phenotypic biofilm characterization using Congo Red Agar. The results showed that the utensils, equipment and food handlers of the investigated hospital had high rates of colonization by S. aureus, mainly in the food production sector. It was also observed the high frequency of antimicrobial resistance, mainly erythromycin and the presence of multi-resistant microorganisms. A large number of positive samples were also found for the biofilm production, with totality for the samples of manipulators. We highlight the relevance of the data in virtue to the serious consequences and risks that can be triggered in the hospital environment. Educational actions and awareness measures were proposed in the institution, aiming at patient safety. / Para que a alimentação possa proporcionar, manter ou recuperar a saúde é necessário que a mesma apresente controle higiênico sanitário satisfatório. Sabe se que uma das possíveis causas de infecção hospitalar é o consumo de alimentos contaminados, sendo assim, fornecer alimentos seguros é essencial aos serviços de nutrição hospitalares. Das doenças transmitidas por alimentos, as de origem bacteriana são apontadas como o problema de saúde pública mais abrangente no mundo com destaque para Staphylococcus aureus, bactéria encontrada principalmente nas fossas nasais, boca e pele da população humana. Neste contexto, a contaminação de alimentos, manipuladores e utensílios é um importante elo entre alimento, pacientes e doenças transmitidas por alimentos. Diante disto, o presente estudo teve como objetivo investigar a presença de S. aureus nos manipuladores de alimentos, equipamentos, bancadas e utensílios do serviço de nutrição de um hospital, bem como o perfil de resistência dos isolados a antimicrobianos. Foram coletadas, com auxílio de swabs estéreis, amostras do ambiente, mãos e mucosa nasal de funcionários de um serviço de nutrição em dois períodos diferentes do ano (março e junho), resultando num total de 134 amostras, que foram submetidas a testes de caracterização bioquímica e morfotintoriais (coloração de gram, provas de catalase e coagulase em tubo), avaliação fenotípica por técnica de difusão da droga e teste de aproximação de discos-teste D, além da caracterização fenotípica de biofilme utilizando Ágar Vermelho Congo.. Os resultados demonstraram que os utensílios, equipamentos e manipuladores de alimentos do hospital investigado apresentaram altas taxas de colonização por S. aureus principalmente no setor de produção de refeições (cozinha). Foi observada também a alta frequência de resistência a antimicrobianos, principalmente a eritromicina e a presença de micro-organismos multirresistentes. Constatou-se também grande número de amostras positivas para a produção de biofilme, com totalidade para as amostras isoladas de manipuladores. Destacamos a relevância dos dados encontrados em virtude das graves consequências e riscos que podem desencadear no ambiente hospitalar. Ações educativas e medidas de conscientização foram propostas na instituição, visando à segurança do paciente.

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<p dir="ltr">Task-oriented programming is a way of programming manipulators in terms of high-level tasks instead of explicit motions. It has been a long-standing vision in robotics since its early days. Despite its potential, several challenges have hindered its full realization. This thesis identifies three major challenges, particularly in task specification and the planning-to-execution transition: 1) The absence of natural language integration in system input. 2) The dilemma of continuously developing non-uniform and domain-specific primitive-task libraries. 3) The requirement for much human intervention.</p><p dir="ltr">To overcome these difficulties, this thesis introduces a novel approach that integrates natural language inputs, eliminates the need on fixed primitive-task libraries, and minimizes human intervention. It adopts the behavior tree, a modular and user-friendly form, as the task representation and advances its usage in task specification and planning-to-execution transition. The thesis is structured into two parts – Task Specification and Planning-to-Execution Transition.</p><p dir="ltr">Task specification explores the use of large language models to generate a behavior tree from an end-user's input. A Phase-Step prompt is designed to enable the automatic behavior-tree generation from end-user's abstract task descriptions in natural languages. With the powerful generalizability of large language models, it breaks the dilemma that stays with fixed primitive-task libraries in task generation. A full-process case study demonstrated the proposed approach. An ablation study was conducted to evaluate the effectiveness of the Phase-Step prompts. Task specification also proposes behavior-tree embeddings to facilitate the retrieval-augmented generation of behavior trees. The integration of behavior-tree embeddings not only eliminates the need for manual prompt configuration but also provides a way to incorporate external domain knowledge into the generation process. Three types of evaluations were performed to assess the performance of the behavior-tree embedding method.</p><p dir="ltr">Planning-to-execution transition explores how to transit primitive tasks from task specification into manipulator executions. Two types of primitive tasks are considered separately: point-to-point movement tasks and object-interaction tasks. For point-to-point movement tasks, a behavior-tree reward is proposed to enable reinforcement learning over low-level movement while following high-level running order of the behavior tree. End-users only need to specify rewards on the primitive tasks over the behavior tree, and the rest of the process will be handled automatically. A 2D space movement simulation was provided to justify the approach. For object-interaction tasks, the planning-to-execution transition uses a large-language-model-based generation approach. This approach takes natural-language-described primitive tasks as input and directly produces task-frame-formalism set-points. Combined with hybrid position/force control systems, a transition process from primitive tasks directly into joint-level execution can be realized. Evaluations over a set of 30 primitive tasks were conducted.</p><p dir="ltr">Overall, this thesis proposes an approach that advances the behavior-tree towards automated task specification and planning-to-execution transitions. It opens up new possibilities for building better task-oriented manipulator programming systems.</p>

Dans un contexte d’Industrie 4.0, on perçoit de nouveaux usages possibles des manipulateurs mobiles (MMs), des robots généralement obtenus par l’association d’un bras manipulateur et d’une plate-forme mobile. Ce travail de thèse se focalise sur la synthèse et la commande de nouveaux MMs coopératifs en définissant trois défis à relever. Le premier défi concerne l’élargissement des domaines d’utilisation des robots par la possibilité de leur utilisation coopérative. Nous définissons ainsi un système robotique modulaire basé sur l’utilisation d’entités robotiques appelés mono-robots (m-bots). Ceux-ci sont des MMs qui peuvent se réarranger sous forme de poly-robot (p-bot) pour réaliser une tâche en collaboration. Le deuxième défi se focalise sur la définition de l’architecture cinématique élémentaire de ces robots. Ainsi, nous proposons une démarche générique de synthèse structurale qui permet l’obtention de plusieurs architectures de m-bots respectant les cahiers des charges relatifs à la tâche en tant que m-bot, mais aussi en tant que p-bot pour un environnement considéré. Cette démarche est basée sur l’analyse structurale des MMs à l’aide des paramètres structuraux des mécanismes (connectivité, mobilité, redondance et hyperstatisme). Le troisième défi proposé est d’arriver à modéliser et contrôler les architectures de MMs synthétisées pour la tâche. Deux lois de commande (PID et hybride force-position) sont proposées pour la réalisation de la tâche considérée. Leur validation a été réalisée grâce à des simulations avancées. / In recent years, the concept of Industry 4.0 has led to new possibilities of use for mobile manipulators (MMs) that are generally made of a manipulator arm mounted on a mobile base. The current Ph.D. is focused on the synthesis and control of new cooperative MMs by defining three challenges. The first challenge concerns the widening of the fields of application of robots. Therefore, we define a modular robotic system based on the use of multiple MMs (mono robots or m-bots) that can be used as a global system (poly-robot or p-bot) for collaborative tasks. The second challenge concerns the definition of the kinematic structure of the MMs. We propose a new generic method of structural synthesis that allows to obtain multiple kinematic architectures for m-bots that respect the constraints imposed by the task and the workspace. This method is based on structural analysis of MMs by the evaluation of the structural parameters (connectivity, mobility, redundancy and overconstraint). The last challenge concerns the modelling and control of the new architectures for the new fields of application. Two control laws (PID control and hybrid force-position control) are proposed in order to realise the considered task. Their validation is done with advanced simulations.

Robots are now moving from their conventional confined habitats such as factory floors to human environments where they assist and physically interact with people. The requirement for inherent mechanical safety is overarching in such human-robot interaction systems. We propose a dual actuator called Parallel Force/Velocity Actuator (PFVA) that combines a Force Actuator (FA) (low velocity input) and a Velocity Actuator (VA) (high velocity input) using a differential gear train. In this arrangement mechanical safety can be achieved by limiting the torque on the FA and thus making it a backdriveable input. In addition, the kinematic redundancy in the drive can be used to control output velocity while satisfying secondary operational objectives. Our research focus was on three areas: (i) scalable parametric design of the PFVA, (ii) analytical modeling of the PFVA and experimental testing on a single-joint prototype, and (iii) generalized model formulation for PFVA-driven serial robot manipulators. In our analysis, the ratio of velocity ratios between the FA and the VA, called the relative scale factor, emerged as a purely geometric and dominant design parameter. Based on a dimensionless parametric design of PFVAs using power-flow and load distributions between the inputs, a prototype was designed and built using commercial-off-the-shelf components. Using controlled experiments, two performance-limiting phenomena in our prototype, friction and dynamic coupling between the two inputs, were identified. Two other experiments were conducted to characterize the operational performance of the actuator in velocity-mode and in what we call ‘torque-limited’ mode (i.e. when the FA input can be backdriven). Our theoretical and experimental results showed that the PFVA can be mechanical safe to both slow collisions and impacts due to the backdriveability of the FA. Also, we show that its kinematic redundancy can be effectively utilized to mitigate low-velocity friction and backlash in geared mechanisms. The implication at the system level of our actuator level analytical and experimental work was studied using a generalized dynamic modeling framework based on kinematic influence coefficients. Based on this dynamic model, three design case studies for a PFVA-driven serial planar 3R manipulator were presented. The major contributions of this research include (i) mathematical models and physical understanding for over six fundamental design and operational parameters of the PFVA, based on which approximately ten design and five operational guidelines were laid out, (ii) analytical and experimental proof-of-concept for the mechanical safety feature of the PFVA and the effective utilization of its kinematic redundancy, (iii) an experimental methodology to characterize the dynamic coupling between the inputs in a differential-summing mechanism, and (iv) a generalized dynamic model formulation for PFVA-driven serial robot manipulators with emphasis on distribution of output loads between the FA and VA input-sets. / text

O problema da tolerância a falhas em robôs manipuladores cooperativos conectados rigidamente a um objeto indeformável é estudado nesta tese. A tolerância a falhas é alcançada através de reconfiguração do sistema de controle. Primeiro, a falha é detectada e isolada. Então, o sistema de controle é reconfigurado de acordo com a falha isolada. As falhas em robôs manipuladores são primeiramente estudadas de acordo com suas consequências no sistema cooperativo. Quatro tipos de falhas são identificados: juntas com balanço livre (sem atuadores ativos), bloqueadas, com informação incorreta de posição e com informação incorreta de velocidade. A detecção e a isolação dos dois primeiros tipos de falhas são alcançadas através de um sistema utilizando redes neurais artificiais. Redes do tipo MLP são empregadas para mapear a dinâmica dos robôs cooperativos sem falhas e uma rede RBF é utilizada para a classificação do vetor de resíduos. As falhas do tipo informação incorreta de posição ou velocidade das juntas são detectadas e isoladas através do uso das restrições impostas pela cadeia cinemática fechada presente no sistema cooperativo. Quando falhas do tipo juntas com balanço livre ou bloqueadas são isoladas, as leis de controle são reconfiguradas. Para estes casos, controladores híbridos de movimento e esmagamento do objeto são deduzidos. Quando falhas do tipo informação incorreta de posição ou velocidade das juntas são isoladas, as medidas afetadas são substituídas por valores estimados. Resultados obtidos em simulações e em robôs cooperativos reais mostram que a metodologia proposta é viável. / The problem of fault tolerance in cooperative manipulators rigidly connected to an undeformable load is addressed in this work. Fault tolerance is reached by reconfiguration of the control system. The faults are firstly detected and isolated. Then, the control system is reconfigured according to the isolated fault. Four faults are considered: free-swinging joint faults, locked joint faults, incorrectly measured joint position faults, and incorrectly measured joint velocity faults. Free-swinging and locked joint faults are detected and isolated by artificial neural networks. MLP’s are utilized to reproduce the dynamics of the fault-free system and an RBF is used to classify the residual vector. Incorrectly measured joint position and velocity faults are detected and isolated based on the kinematic constraints imposed on the cooperative system. When free-swinging and locked joint faults are isolated, the control laws are reconfigured. Control laws for motion and squeeze of the object are developed in these cases. When incorrectly measured joint position faults and incorrectly measured joint velocity faults are isolated, the faulty measurements are replaced by their estimates. Results obtained in simulations and in real cooperative robots indicate that the proposed methodology is viable.

Neste trabalho, o equacionamento dinâmico de um manipulador espacial de base livre flutuante é descrito a partir do conceito do manipulador dinamicamente equivalente para que as técnicas de controle desenvolvidas sejam experimentalmente validadas em um manipulador convencional de base fixa. Dois tipos de controle de movimento são considerados. O primeiro foi desenvolvido no espaço das juntas e realiza o comando direto de posicionamento das juntas do manipulador; o segundo foi desenvolvido no espaço inercial e o controle é direcionado para o posicionamento do efetuador no espaço Cartesiano. Nos dois casos, o problema de acompanhamento de trajetória de um manipulador espacial com base livre flutuante sujeito a incertezas na planta e perturbações externas é proposto e solucionado sob o ponto de vista do critério de desempenho H \'INFINITO\'. Considerando métodos de controle para sistemas subatuados, três técnicas adaptativas foram desenvolvidas a partir de um controlador H \'INFINITO\' não-linear baseado na teoria dos jogos. A primeira técnica foi proposta considerando a estrutura do modelo bem definida, porém calculada com base em parâmetros incertos. Uma lei adaptativa foi aplicada para estimar esses parâmetros utilizando parametrização linear. Redes neurais artificiais são aplicadas nas outras duas abordagens adaptativas. A primeira utiliza uma rede neural para aprender o comportamento dinâmico do sistema robótico, considerado totalmente desconhecido. Nenhum dado cinemático ou dinâmico da base é utilizado neste caso. A segunda abordagem considera a estrutura do modelo nominal do manipulador bem definida e a rede neural é aplicada para estimar o comportamento das incertezas paramétricas e da dinâmica não-modelada da base. O critério H \'INFINITO\' é aplicado nas três técnicas para atenuar o efeito dos erros de estimativa. Resultados experimentais foram obtidos com um robô manipulador de base fixa subatuado (UArmII) e apresentaram melhor desempenho no acompanhamento da trajetória e no consumo de energia para as abordagens baseadas em redes neurais. / In the present work, the dynamics of a free-floating space manipulator is described through the dynamically equivalent manipulator approach in order to obtain experimental results in a planar fixed base manipulator. Control in joint and Cartesian spaces are considered. The first acts directly on joints positioning; the second control scheme acts on positioning the end-effector in some inertially fixed position. In both cases, the problem of tracking control with a guaranteed H-infinity performance for free-floating manipulator systems with plant uncertainties and external disturbances is proposed and solved. Considering control methods for underactuated systems, three adaptive techniques were developed from a nonlinear H-infinity controller based on game theory. The first approach was proposed considering a well defined structure for the plant, however it was computed based on uncertain parameters. An adaptive law was applied to estimate these parameters using linear parametrization. Artificial neural networks were applied in the two other approaches. The first one uses a neural network to learn the dynamic behavior from the robotic system, which is considered totally unknown. No kinematics or dynamics data from the spacecraft are necessary in this case. The second approach considers the nominal model structure well defined and the neural network is applied to estimate the behavior of the parametric uncertainties and of the spacecraft non-modeled dynamics. The H-infinity criterion was applied to attenuate the effect of estimation errors in the three techniques. Experimental results were obtained with an underactuated fixed-base planar manipulator (UArmII) and presented better performance in tracking and energy consumption for the neural based approaches.

Neste trabalho é apresentado um estudo comparativo entre quatro controladores H não lineares aplicados a um manipulador robótico com restrições de força e posição. Para estudar o comportamento de cada controlador as seguintes estratégias foram adotadas: (1) o modelo nominal do robô é considerado conhecido e são utilizadas técnicas inteligentes para estimar incertezas paramétricas, dinâmicas não modeladas e distúrbios externos; (2) O modelo do sistema é considerado completamente desconhecido e as técnicas inteligentes são utilizadas para estimar o modelo completo. As técnicas inteligentes utilizadas são baseadas em redes neurais e lógica fuzzy. Resultados experimentais baseados em um manipulador planar de três juntas rotacionais são apresentados, sendo que as restrições de posicionamento e forças são referentes ao movimento sobre uma linha reta. Ainda neste projeto é desenvolvido um sensor para medição de forças e momentos em três eixos ortogonais, sendo este sensor o dispositivo utilizado para fornecer informações necessárias para o controle do manipulador robótico com restrições / In this work, we present a comparative study among four H nonlinear controllers applied to a manipulator subject to position and force constraints. In order to study the behavior of each controller the following strategies have been adopted: (1) the nominal model of the robot is considered known and intelligent techniques are used to estimate parametric uncertainties, nonmodeled dynamics and external disturbances; (2) the system model is considered completely unknown and intelligent techniques are used to estimate the complete model. The intelligent techniques considered are based on neural networks and fuzzy logic. Experimental results based on a planar manipulator with three rotational joints are presented where position and force constraints refer to a movement on a straight line. To perform these experiments we developed a sensor to measure forces and moments in three orthogonal axes

Manipuladores robóticos têm ganhado cada vez mais importância em operações espaciais por poderem substituir humanos na realização de tarefas perigosas ou demasiadamente demoradas e repetitivas. Em destaque tem-se os manipuladores de base livre, por poderem ser acoplados a satélites ou estações espaciais e representarem um grande desafio para engenheiros de controle. Tais robôs possuem dois modos de operação: com base livre controlada e com base livre flutuante. No primeiro modo a base do manipulador tem atitude e translação controladas por jatos propulsores ou rodas de reação, de modo que o comportamento do robô se aproxima de um manipulador de base fixa. Porém, há um considerável consumo de combustível e energia elétrica, além de novos distúrbios que são inseridos no sistema. No segundo modo, considerado neste trabalho de mestrado, os controles da base são desligados durante a operação e ela pode mover-se livremente em resposta aos movimentos do braço. Embora tenha-se notável economia de combustível e energia elétrica, o acoplamento dinâmico entre base e braço deve ser considerado tanto na modelagem como no projeto do controlador. Para modelar o robô espacial considerado neste projeto foi aplicado o método do Manipulador Dinamicamente Equivalente, que mapeia um manipulador de base livre flutuante através de um robô sub-atuado de base fixa. Dessa forma é possível utilizar sobre robôs espaciais técnicas de controle já desenvolvidas para manipuladores terrestres. Este trabalho trata da análise de controladores robustos e adaptativo aplicados sobre um manipulador planar de base livre flutuante com dois braços para realizar a tarefa de seguimento de trajetórias definidas no espaço de tarefa. Os sistemas de controle considerados foram: Regulador Linear Quadrático Recursivo Robusto (RLQR), controlador H-infinito robusto e controlador adaptativo com modos deslizantes. Os resultados mostraram que os controladores apresentaram desempenhos distintos mas ainda assim foram capazes de realizar a tarefa de seguir trajetórias no espaço de trabalho com erros de acompanhamento bastante pequenos. Foi elaborada também uma comparação quantitativa através de índices de desempenho considerando integral de torques e norma L2 de erros de acompanhamento. / Robotic manipulators gained greater importance in space operations by being able to replace humans in dangerous or very long and repetitive tasks. Free-floating manipulators are highlighted, because they can be coupled to satellites or space stations and represent a great challenge to control engineers. These robots have two operation modes: controlled base and free-floating base. In the first mode, the base has its attitude and translation controlled by propulsion jets or reaction wheels, so that the robot behavior is similar to a fixed-base manipulator. However, there is considerable fuel and electrical energy consumption, besides additional disturbances inserted in the system. In the second mode, which is considered in this work, the base is not controlled during operation and is able to move freely in response to movements of the arm. Even though there is a remarkable fuel and electrical energy saving, the dynamic coupling between base and arm must be taken into account during modelling and controller design. To model the space manipulator considered in this work the Dynamically Equivalent Manipulator method was used, which maps a free-floating manipulator into a underactuated fixed-base manipulator. Thus, it is possible to apply known control techniques for terrestrial manipulators on free-floating ones. This work discusses robust and adaptive controllers applied on a planar dual-arm free-floating space manipulator in order to track trajectories defined in the workspace. The considered control systems are: Robust Recursive Linear Quadratic Regulator, Robust H-infinity and Adaptive Sliding Modes. Results showed that the controllers had distinct performances but were still able to perform trajectory tracking in workspace with very small tracking errors. A quantitative comparison was also elaborated with performance indexes considering integral of torques and L2 norm of tracking errors.

L'objectif principal de ce travail est de proposer des approches de commande performantes et robustes aux incertitudes pour les robots parallèles de type Delta, qui sont conçus pour effectuer des tâches industriels importantes et exigeantes comme l'emballage en agroalimentaire, la découpe laser, etc. Les difficultés les plus importantes pour garantir une bonne performance de suivi de trajectoires de ces manipulateurs pour les hautes accélérations avec la meilleure précision possible, tout en conservant de telle performance indépendamment des conditions d'opération (par exemple avec différentes conditions de charge, différentes trajectoires, etc.) sont leur actionnement couplé, l'augmentation de leurs dynamiques non-linéaires et le problème de vibrations mécaniques avec l'augmentation des accélérations envisagées, la présence d'incertitudes sur le modèle/environnement et la redondance d'actionnement si elle existe. Dans cette thèse, différentes approches de commande et observateurs d'état ont été proposés et implémentés expérimentalement sur deux robots de type Delta, à savoir le Par2 (non-redondant) et le R4 (à redondance d'actionnement). Pour le premier, une commande non linéaire/adaptative à mode Dual a été proposée en espace articulaire, synthétisé avec trois différents observateurs d'état pour la estimation des vitesses articulaires: un observateur lead-lag, un observateur Alpha-bêta-gamma et un observateur à grand gain. Pour le robot R4, un commande à feedforward en espace-dual avec a été proposée pour la compensation de sa dynamique (avec laquelle une aaccélération maximale de 100G a été atteinte), puis un contrôleur adaptatif dans l'espace-dual a été proposé afin de garantir une estimation et mise à jours automatique des paramètres du système en temps réel, garantissant ainsi sa bonne performance indépendamment du scénario expérimental. L'analyse de stabilité du robot Par2 bouclé avec la commande adaptative à Mode Dual et du robot R4 commandé avec le contrôleur adaptatif dans l'espace-dual sont fournies, des simulations ont été effectuées et les résultats expérimentaux confirment la bonne performance des approches de commande proposées. / The main objective of this work is to propose control strategies performant and robust towards uncertainties for Delta-like parallel robots, which are designed to perform important and demanding industrial tasks, such as packaging, laser cutting, etc. The most important difficulties to guarantee the good tracking performance of these manipulators for very high accelerations with the best possible precision, while maintaining such performance independently of the operational case (e.g. with different load conditions, different trajectories, etc.) are their coupled actuation, the increase of their high nonlinear dynamics and the problem of mechanical vibrations with the increase of the involved accelerations, the presence of uncertainties in the model/environment and the redundant actuation when applicable. In this thesis, different control schemes and state observers were proposed and experimentally implemented on two Delta-like robots, namely the Par2 (non-redundant) and the R4 (redundantly actuated) parallel manipulators. For the former, a nonlinear/adaptive Dual Mode controller was proposed in the joint space, complied with three different state observers for the estimation of joint velocities: a Lead-lag based observer, an Alpha-beta-gamma observer and the High-gain observer. For the latter, firstly a dual-space feedforward controller was proposed for the compensation of its dynamics (with which a maximum of 100G of acceleration was reached), then a dual-space adaptive controller was proposed in order to automatically estimate the parameters of the system in real-time, thus guaranteeing its good performance independently of the experimental scenario. The stability analysis of Par2 robot under the control of the Dual Mode controller and the R4 robot under the control of the dual-space adaptive controller are provided, simulations were performed and the experimental results confirm the good performance of the proposed control schemes.