Data-Driven Inverse Kinematics Approximation of a Delta Robot with Stepper Motors
The Delta robot is a parallel robot that is over-actuated and has a highly nonlinear dynamic model, which poses a significant challenge to its control design. The inverse kinematics that maps the motor angles to the position of the end effector is highly nonlinear and extremely important for the con...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-09-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/12/5/135 |