Fractional-order PD control of a parallel Delta robot: Experimental results
DOI:
https://doi.org/10.53907/enpesj.v5i2.350Keywords:
fractional-order, PD controller, trajectory tracking, Delta robotAbstract
In this paper, a fractional-order proportional derivative (PD) controller is proposed to improve the trajectory tracking of a parallel Delta robot. The highly coupled dynamics of the Delta robot present challenges for the current PD/PID controllers, resulting in limited tracking performance. To overcome the aforementioned limitation, this work increases the flexibility of the PD controller by introducing a fractional-order derivative operator. Experiments are carried out on the Delta robot to prove the effectiveness of the outlined paper approach.
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