Object-Oriented Modeling and Control of Delta Robots

Scott A. Bortoff1

  • 1Mitsubishi Electric Research Laboratories



Regular Session


13:30 - 15:30 | Wed 22 Aug | Fredensborg | WeB3


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In this paper we derive a dynamic model of the Delta robot that is well-suited to an object-oriented modeling framework. The approach uses an augmented Lagrangian or Hamiltonian formulation together with Baumgarte's method of index reduction, and results in a singularity-free dynamic model that is well suited to dynamic analysis, control system synthesis and time-domain simulation. The object-oriented structure enables broad application to problems such as coordinated control and robotic assembly. We present several common control algorithms and conduct a dynamic analysis of the Delta robot that shows that the open-loop system is unstable for large volumes of the reachable workspace, which has fundamental implications on closed-loop performance.

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