Delta robot joints control-based linear MPC controller

Abstract

Controlling the joints’ angles of a robot is an important step which lead to controlling the robot end effector position and/or speed. Thus, it has been a vast area of interest in research which has good investigating potentials using several control types such as classical, modern and optimal control methods. In this work, a linear model predictive control MPC technique was proposed to control the joints’ angle of a three degree of freedom delta robot. The inverse kinematics, direct kinematics, and dynamic model of the robot were analysed. Then, the dynamic model represented in a linearised around an operating point state space model. In order to investigate the performance of the proposed MPC controller a simulator-based MATLAB program was implemented. The simulation results have showed the efficiency of the proposed controller in the joints’ angles control problem. This illustrates that the MPC controller can derive the joints’ angles to track the desired angles with invisible steady state error.