Robust Trajectory Tracking of Delta Parallel Robot Using Sliding Mode Control

摘要

For purpose of realizing robust trajectory tracking of parallel Delta robot with uncertain model parameters, a sliding mode control approach based on Delta robot dynamics is proposed. Once the reference trajectory is given, we can obtain the sliding mode controller, so that Delta parallel robot can move along the reference trajectory. Meanwhile, the disturbance and uncertainty of robot system are considered in the proposed method, which is beneficial to improve the reliability of controller and practicability of robot. The system stability is proved by Lyapunov method. Simulation experiment results demonstrate that the robust trajectory tracking of parallel Delta robot can be realized by the proposed method, and the designed controller is simple, robust and reliable.