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- W2914541454 abstract "In this paper, a nonlinear proportional derivative control (NPD) is proposed to solve the trajectory tracking problem of a parallel Delta robot. In order to handle the strong coupling effect and external disturbances as well as to realise high-precision trajectory tracking, the proportional and derivative gains are adapted through time using the tracking error and its time derivative respectively. Experiments are carried out on the parallel Delta-4 robot, and it is shown the effectiveness and the superiority of the NPD controller over the fixed gains PD controller." @default.
- W2914541454 created "2019-02-21" @default.
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- W2914541454 date "2018-10-01" @default.
- W2914541454 modified "2023-09-30" @default.
- W2914541454 title "Nonlinear PD control of a Parallel Delta robot: Expermentals Results" @default.
- W2914541454 doi "https://doi.org/10.1109/cistem.2018.8613618" @default.
- W2914541454 hasPublicationYear "2018" @default.
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