TR2018-126

Object-Oriented Modeling and Control of Delta Robots


    •  Bortoff, S.A., "Object-Oriented Modeling and Control of Delta Robots", IEEE Conference on Control Technology and Applications, August 2018.
      BibTeX TR2018-126 PDF
      • @inproceedings{Bortoff2018aug,
      • author = {Bortoff, Scott A.},
      • title = {Object-Oriented Modeling and Control of Delta Robots},
      • booktitle = {IEEE Conference on Control Technology and Applications},
      • year = 2018,
      • month = aug,
      • url = {https://www.merl.com/publications/TR2018-126}
      • }
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  • Research Areas:

    Control, Dynamical Systems

Abstract:

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.