The Implementation of Smoothing Robust Control for a Delta Robot

摘要

The implementation of smoothing robust control for a delta robot has been explored in this paper. Delta robots are usually used for the high speed pick-and-place or highly precise applications in the manufacturing factories. For the inherent mechanical structural constraints of delta robots, they would make the motion control more complex than serial manipulators. A delta robot control system is a highly coupling system and easy to induce position errors or chatter due to the effects of other attached limbs. In order to solve the serious problem, this paper implemented a smoothing robust control method, MDDS, to guarantee the smoothly and robustly dynamic behavior as we designed. The method has the capabilities of dynamics prediction and disturbance estimation, and then outputs the control efforts to deform the dynamic manifold of the controlled plant into the desired manifold. In the hardware structure, the paper uses a self-designed kernel development board with PC-based HMI to execute the experiments. The control methods are designed by the combined kernel of DSP and FPGA. We also develop the PID control method in the development board to make comparisons. Moreover, the validation of this control architecture for a delta robot is verified successfully through the results of experiments.