.... The developed model adeptly captures the kinematic and dynamic constraints of various robot segments, serving as the foundation for a robust optimized control strategy. This strategy, which integrates computed torque control and particle swarm optimization, enables real-time computation of joint torques based...

... three limbs of GSP mechanism provide translation z-axis, and rotation about x- and y-axes only. Thus HPR can perform motion with full dimensions (translation and rotation about x-, y-, and z-axes). Optimizations are performed by using particle swarm optimization algorithm. Optimization results...