Adaptive Control of the Delta Robot

During my master’s study, I developed a computed torque controller and an adaptive controller (to estimate the variable payload at real time) for the high-speed motions of the Delta robot. These controllers made the robot achieve up to 300 standard Adept pick-and-place trajectory in one minute.

Related Publications:

Liu, Y., “Research on the Nonlinear Control of High-Speed Delta Robot”, Harbin Institute of Technology, July 2015.