Modeling and control of Delta Robot based on Simscape Multibody

Abstract

This paper presents the modeling and simulation of three degree-of-freedom delta parallel robot control based on the Simscape Multibody tool. The inverse kinematics problem is also presented based on geometric methods and verified by simulation and experiment when the robot's actuator operates in a circular trajectory. The simulation results show the robot's joint position response with negligible settling time, absence of fluctuations, and a small steady-state error of 0.04 degrees, the actual trajectory sticks well to the reference trajectory. In addition, the robot's final trajectory performs well in a circular trajectory in the experiment. The model can be deployed in learning and teaching.