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Optimal Design of Adaptive Robust Control for the Delta Robot with Uncertainty: Fuzzy Set-Based Approach
Open AccessArticle

Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking

1
Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City 251301, Taiwan
2
Department of Electrical Engineering, National Taiwan Normal University, Taipei City 106308, Taiwan
3
Department of Mechanical Engineering, National Chung Hsing University, Taichung City 402204, Taiwan
*
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(10), 3526; https://doi.org/10.3390/app10103526
Received: 28 March 2020 / Revised: 27 April 2020 / Accepted: 18 May 2020 / Published: 20 May 2020
(This article belongs to the Special Issue Applications of Intelligent Control Methods in Mechatronic Systems)
This paper focuses on developing a pneumatic-driven and horizontal-structure linear delta robot (PH-LDR) and increasing its trajectory tracking performance on the three-degrees-of-freedom (3-DOF) space. With the investigation of inverse and forward kinematics, the parallel mechanism of PH-LDR is designed by using three high-power and low-cost rod-less pneumatic actuators (PAs) to track 3-DOF motion, and this has a horizontal structure to enlarge the workspace. Since the PH-LDR features nonlinear coupling among its three axes and is disturbed by the three high-nonlinear rod-less PAs, the tracking control performance is significantly decreased, subject to uncertain nonlinearity and parametric uncertainty. Therefore, a fuzzy-PID controller is used to achieve highly accurate 3-DOF trajectory tracking, and furthermore, this study exploits neural networks (NNs) to pre-compensate the impacts arising from the compressibility of air and temperature change. The control system for the PH-LDR also features an embedded controller that allows real-time control. Experimental demonstration verifies the developed PH-LDR with the proposed controller, and the dynamic tracking accuracy in 3-DOF trajectory can be achieved. View Full-Text
Keywords: 3-DOF trajectory tracking; linear delta robot; rod-less pneumatic actuators; fuzzy-PID; fuzzy control; neural network (NN) 3-DOF trajectory tracking; linear delta robot; rod-less pneumatic actuators; fuzzy-PID; fuzzy control; neural network (NN)
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MDPI and ACS Style

Li, I.-H.; Chiang, H.-H.; Lee, L.-W. Development of A Linear Delta Robot with Three Horizontal-Axial Pneumatic Actuators for 3-DOF Trajectory Tracking. Appl. Sci. 2020, 10, 3526.

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