Computed torque control of a prismatic-input delta parallel robot

Delta parallel robots are regularly used in various industries, including but not limited to the pharmaceutical, food, automotive, and electronics industries. This nonlinear system possesses highly uncertain dynamics; therefore, controller design for delta robots tends to be quite challenging. Based on a simplified dynamic model which utilizes the principle of virtual work, a nonlinear computed torque controller is proposed for trajectory tracking control of a prismatic-input delta parallel robot. The simulation results demonstrate that the proposed controller can guarantee excellent trajectory tracking performance by considering nonlinear compensations. Lastly, simulation results are compared with a linear proportional-integral-derivative controller to show its effectiveness.