Publication

Nonlinear PD control of a Parallel Delta robot: Expermentals Results

Mohamed Bouri
2018
Conference Papers

Abstract

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.

Official source

https://infoscience.epfl.ch/entities/publication/b2c178bd-4873-4a58-8247-13c4bd356296

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Nonlinear PD control of a Parallel Delta robot: Expermentals Results

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