Robust Control for a Delta Robot

摘要

For the needs of precision and smooth control, a robust control scheme for a delta robot is implemented in this paper. Parallel robots have many advantages comparing to the serial robots, such as high flexibility, high stiffness, and high accuracy. However, to achieve a higher accuracy, the static and dynamic behavior must be better understood. In addition, parallel robots are highly coupled systems and easily to be disturbed and to induce chatters by each other for non-simultaneous convergent phenomena. The paper mainly focuses on realizing and controlling a delta robot robustly, and to improve the control problems. Besides, to satisfy the requirements of various applications for the kind of robots, we need to develop a set of simultaneously convergent servo control system. Therefore, a manifold deformation design scheme with the capacity of smooth robustness under preset motion frequency based on the topological analysis about system dynamics is very suitable for the robot system. The validation of the robust method will be shown in this paper.