Adaptive Control of 3-DOF Delta Parallel Robot

Aguilar-Mejía, Omar; Escorcia-Hernández, Jonatan Martín; Tapia‐Olvera, Ruben; Minor-Popocatl, Hertwin; Valderrabano‐Gonzalez, Antonio

doi:10.1109/ropec48299.2019.9057075

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Cited by 5 publications

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“…Researchers recently employed an adaptive neural network controller for a Delta robot to track prescribed trajectories, and that study implemented an adaptive artificial neural network for online training 13 . In addition, other researchers applied a model-free iterative learning control strategy (ILC) to a Delta robot manipulator, which subjects to external disturbances for tracking nonrepetitive trajectories 14 .…”

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confidence: 99%

Controller Design for a Delta Robot Using Lagrangian Multipliers

Lee¹,

Lin²

2021

Preprint

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The novelty of this research is that the study utilizes Lagrangian multipliers for an articulated close-chain robot mechanism as time-varying states to augment an energy-based Lagrangian dynamic model, and the strategy facilitates the system computations while satisfying the forward/inverse dynamics and mechanism constraints simultaneously for the close-chained robot. Then, this article develops a controller based upon the augmented dynamics model for the Delta robot mechanism and drives its moving platform to track prescribed trajectories in space. As a result, the simulation results validate the effectiveness of the augmented system model in undertaking complex dynamics of close-chained robot mechanisms.

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confidence: 99%