Modeling and Regulation of A Delta Planar Robot

Abstract

This paper is to present modeling and control of a designed delta planar robotic manipulator. We address the system modeling issue from mathematical models to physical models in Simulink. Inspired by the path following control problem as studied in [1], we show a point-to-point regulation design. Particularly, we embed a high-gain observer-based regulator to do so. The proposed result is demonstrated by numerical simulations, including a test based on a physical model relating to a real designed delta robot.