Adaptive Fuzzy Backstepping Control for a 3-DOF Delta Robot
Design, prototyping, and robust trajectory control of a three-degree-of-freedom parallel robot.
Overview
This project combines mechanical design, robot modeling, and intelligent control for a three-degree-of-freedom delta parallel robot. It addresses trajectory tracking when model parameters and external conditions are uncertain.
My contributions
- Designed the mechanical model and built a physical 3-DOF delta robot prototype.
- Derived the motion-control framework for trajectory tracking.
- Integrated adaptive fuzzy logic with backstepping control to compensate for uncertainties.
- Evaluated the controller through simulation and experimental implementation.
Publication
The work was presented at the 2024 International Conference on Advances in Information and Communication Technology and published by Springer.