Trajectory tracking control of a 3 DOF delta robot: a PD and LQR comparison

Abstract

This work presents the experimental implementation of a trajectory tracking control of a Delta Robot of 3 DOF. For this purpose, a prototype of the robot was built using the mechanical structure design proposed by Reymond Clavel. In this context, two different methods of controller design based on pole placement and state feedback were used ensuring stability and a good performance of the closed-loop system. The first controller design method was the PD and the second method was LQR, where the PD controller parameters were obtained using pole placement. The results shown the stability and a good performance of the closed-loop system when they were implemented for a desired helix trajectory of the end-effector. In order to obtain the experimental results was used the NI myRIO embedded hardware device programmed in LabView software, where the comparison of the results are discussed in this work.