Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots
Joint Authors
Cheng, Yanming
Liu, Cheng
Lee, Ilkyoo
Liu, Dejun
Cao, Guohua
Source
Mathematical Problems in Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-08-30
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints.
Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively.
Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed.
Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.
American Psychological Association (APA)
Liu, Cheng& Cheng, Yanming& Liu, Dejun& Cao, Guohua& Lee, Ilkyoo. 2020. Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots. Mathematical Problems in Engineering،Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1202403
Modern Language Association (MLA)
Liu, Cheng…[et al.]. Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots. Mathematical Problems in Engineering No. 2020 (2020), pp.1-12.
https://search.emarefa.net/detail/BIM-1202403
American Medical Association (AMA)
Liu, Cheng& Cheng, Yanming& Liu, Dejun& Cao, Guohua& Lee, Ilkyoo. Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots. Mathematical Problems in Engineering. 2020. Vol. 2020, no. 2020, pp.1-12.
https://search.emarefa.net/detail/BIM-1202403
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1202403