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Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model

Parallel robots are being applied popular in industry. They usually have many closed-loop kinematic structures, therefore their movement equations have the form of redundant coordinates and are complex. In most cases, parameters of dynamic model of the parallel robots required to be known exactly fo...

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Main Authors: Vu, Le Huy, Le, Thi Huyen Linh, Nguyen, Dinh Dzung
Format: Article
Language:English
Published: SpringerLink 2021
Subjects:
Parallel robot
Delta rostock robot
Online Access:https://link.springer.com/chapter/10.1007%2F978-3-030-64719-3_93
https://dlib.phenikaa-uni.edu.vn/handle/PNK/2687
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spelling oai:localhost:PNK-26872022-08-17T05:54:48Z Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model Vu, Le Huy Le, Thi Huyen Linh Nguyen, Dinh Dzung Parallel robot Delta rostock robot Parallel robots are being applied popular in industry. They usually have many closed-loop kinematic structures, therefore their movement equations have the form of redundant coordinates and are complex. In most cases, parameters of dynamic model of the parallel robots required to be known exactly for control problem using the control laws such as PD, PID, CTC. This study is going to see in which the conditions of the Rostock Delta parallel robot should be used well with the PD control law. The movement equations of Rostock Delta robot in the form of differential equation system with redundant generalized coordinates is used to establish the PD control law. The stableness of the control law is also proved. Tracking control of a specific Rostock Delta robot is then simulated to see whether the PD control law could be used effectively or not in the cases of with and without the error of robot and noise. 2021-09-09T10:51:00Z 2021-09-09T10:51:00Z 2021 Article https://link.springer.com/chapter/10.1007%2F978-3-030-64719-3_93 https://dlib.phenikaa-uni.edu.vn/handle/PNK/2687 10.1007/978-3-030-64719-3_93 en SpringerLink
institution Digital Phenikaa
collection Digital Phenikaa
language English
topic Parallel robot
Delta rostock robot
spellingShingle Parallel robot
Delta rostock robot
Vu, Le Huy
Le, Thi Huyen Linh
Nguyen, Dinh Dzung
Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model
description Parallel robots are being applied popular in industry. They usually have many closed-loop kinematic structures, therefore their movement equations have the form of redundant coordinates and are complex. In most cases, parameters of dynamic model of the parallel robots required to be known exactly for control problem using the control laws such as PD, PID, CTC. This study is going to see in which the conditions of the Rostock Delta parallel robot should be used well with the PD control law. The movement equations of Rostock Delta robot in the form of differential equation system with redundant generalized coordinates is used to establish the PD control law. The stableness of the control law is also proved. Tracking control of a specific Rostock Delta robot is then simulated to see whether the PD control law could be used effectively or not in the cases of with and without the error of robot and noise.
format Article
author Vu, Le Huy
Le, Thi Huyen Linh
Nguyen, Dinh Dzung
author_facet Vu, Le Huy
Le, Thi Huyen Linh
Nguyen, Dinh Dzung
author_sort Vu, Le Huy
title Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model
title_short Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model
title_full Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model
title_fullStr Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model
title_full_unstemmed Tracking Control of Rostock Delta Parallel Robot Based on the Dynamic Model
title_sort tracking control of rostock delta parallel robot based on the dynamic model
publisher SpringerLink
publishDate 2021
url https://link.springer.com/chapter/10.1007%2F978-3-030-64719-3_93
https://dlib.phenikaa-uni.edu.vn/handle/PNK/2687
_version_ 1751856301346914304
score 8.891695

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