Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

Table 1

Numerical values of system parameters [10].

The Parameters	Symbols	Values
The radius of robot base.		0.35
Traveling plate radius.		0.1
Arm length.		0.35
Forearm length.		0.8
Traveling plate mass.		0.6
The inertia of actuating motor.		0.003
Arm inertia.		0.071
Forearm Mass.		0.3
The maximum allowable torque.		90