“…Model-based mechanisms are often criticized for being computationally intensive while also making unrealistic simplifications. In [6], a more realistic model-based controller is proposed for a 2 DOF parallel robot that included the mechatronic dynamic model of the robot including the servomechanism. However, several simplifying assumptions are still made such as ideal rotation gates, no energy dissipation by friction and negligible inertial moments of distal and passive input links.…”