Nonlinear PD control of a Parallel Delta robot: Expermentals Results

In this paper, a nonlinear proportional derivative control (NPD) is proposed to solve the trajectory tracking problem of a parallel Delta robot. In order to handle the strong coupling effect and external disturbances as well as to realise high-precision trajectory tracking, the proportional and derivative gains are adapted through time using the tracking error and its time derivative respectively. Experiments are carried out on the parallel Delta-4 robot, and it is shown the effectiveness and the superiority of the NPD controller over the fixed gains PD controller.


Published in:
Proceedings 2018 3Rd International Conference On Electrical Sciences And Technologies In Maghreb (Cistem), 90-93
Presented at:
3rd International Conference on Electrical Sciences and Technologies in Maghreb (CISTEM), Algiers, ALGERIA, Oct 28-31, 2018
Year:
Jan 01 2018
Publisher:
New York, IEEE
ISBN:
978-1-5386-4987-9
Keywords:
Laboratories:




 Record created 2019-06-18, last modified 2020-04-20


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