TY - GEN
T1 - Trajectory tracking control of a 3 DOF delta robot
T2 - 23rd IEEE International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2016
AU - Fabian, Joao
AU - Monterrey, Christian
AU - Canahuire, Ruth
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/12
Y1 - 2017/1/12
N2 - 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.
AB - 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.
KW - Trajectory Control
KW - kinematics
KW - pole placement control
KW - state feedback control
UR - https://www.scopus.com/pages/publications/85013304868
U2 - 10.1109/INTERCON.2016.7815581
DO - 10.1109/INTERCON.2016.7815581
M3 - Conference contribution
AN - SCOPUS:85013304868
T3 - Proceedings of the 2016 IEEE 23rd International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2016
BT - Proceedings of the 2016 IEEE 23rd International Congress on Electronics, Electrical Engineering and Computing, INTERCON 2016
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 2 August 2016 through 5 August 2016
ER -