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Publication
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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.
Laurent Villard, Emmanuel Lanti, Alberto Bottino, Mohsen Sadr
Xavier Fernandez-Real Girona, Riccardo Tione
Nicolas Henri Bernard Flammarion, Oguz Kaan Yüksel, Etienne Patrice Boursier