Adaptive Controller Design for Delta Robots

• Main Authors: Guan-Wei Su, 蘇冠瑋
• Other Authors: An-Chyau Huang
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/r9p8cg

碩士 === 國立臺灣科技大學 === 機械工程系 === 106 === In this thesis, various adaptive tracking controllers are proposed to Delta robots with parametric uncertainties in both free space and constrained setting. Firstly, the system with known parameters are considered with traditional control strategies. The parameters are then assumed to be uncertain so that conventional regressor-based adaptive designs are introduced. Two version of regressor-free adaptive schemes are then given with rigorous justification of closed loop stability. All these designs are verified with simulation cases to prove their feasibility.