Research on trajectory tracking control of delta high-speed parallel robot based on PTNTSMC

Abstract

Effective trajectory tracking control is a crucial assurance for the optimal vibration suppression results of trajectory optimization. Based on the dynamic model of the Delta robot, the trajectory tracking strategy of the Delta high-speed parallel robot was investigated to cater to the rapid response requirements during high-speed operations. In this study, a predefined-time non-singular terminal sliding mode controller is proposed, wherein the improved non-singular terminal sliding surface ensures that tracking errors converge to zero within a predefined timeframe. The Simulink model of the Delta high-speed parallel robot control system was constructed, and the tracking effect of the proposed predefined-time non-singular sliding mode controller is simulated and analyzed. The simulation results indicate that, compared to the fixed-time terminal sliding mode controller, the designed controller achieved tracking within a predefined time of 0.002 s, substantially enhancing tracking precision.