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|Title||Modeling and High Precision Motion Control of 3 DOF Parallel Delta Robot Manipulator|
This Master thesis describes the CAD- Modeling of the Parallel DELTA robot, designed by Autodesk Inventor® software program. DELTA Robot is a Multi-Input Multi Output Nonlinear System (MIMO), so, PID controller and Model Predictive Controller (MPC) are implemented to improve the performance of Robot .but due to the variations in the dynamic models of each system, it is nearly impossible to conclusively determine the most appropriate controller to design. Therefore, this thesis compares the simulation results of two controllers, namely the PID and MPC respectively; on a 3 DOF Parallel DELTA robot in order to determine which controller would yield the best control performance. By comparing the simulation results for the joint angles error and the end effector trajectory error plots for the PID and MPC controllers, MPC controller gave the best results than PID controller. Then, a great contribution added at the response of DELTA robot. Because of Robot arms are highly geared; this reason let the robot to be more robust. MPC controller held the Potential to be the most likely candidate controllers to implement on the physical structure of the 3-DOF Parallel DELTA robot. But PID controller is easier in software implementation inside embedded systems as microcontrollers.
|Publisher||الجامعة الإسلامية - غزة|
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