Bilateral control in delta robot by using Jacobian matrix

摘要

Delta robot is a parallel robot with rigid body and fast movement potential that suitable for human interface device via bilateral control. The workspace is relatively small due to the complex interference between three legs and lead to various size of delta robot to compatible with the preference work. As the size is vary, the kinematic and dynamic of delta robot is also difference and required new control method to compensate the changing kinematic such as micro/macro bilateral control in task space. However, those method required high calculation power to calculate the position and force feedback by using angular motor position and torque from disturbance observer. New approach of speed and force bilateral control to reduce the complexity and computational time by using Jacobian matrix (J) is proposed. The angular velocity of motor is calculated within disturbance observer. The simulation is carry out to verify the proposed method.