Boudjedir, Chems EddineBoukhetala, DjamelBouri, Mohamed2019-06-182019-06-182019-06-182018-01-0110.1109/CISTEM.2018.8613618https://infoscience.epfl.ch/handle/20.500.14299/157106WOS:000458425300019In 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.Engineering, Electrical & ElectronicEngineeringnonlinear pd controldelta robottrajectory trackingrobustnesstext::conference output::conference proceedings::conference paper