A Controller for Delta Parallel Robot Based on Hedge Algebras Method

Figure 9

System’s response without load. (a) The x-axis’s position error. (b) The y-axis’s position error. (c) The z-axis’s position error. (d) Joint 1’s control force. (e) Joint 2’s control force. (f) Joint 3’s control force.

(a)

(b)

(c)

(d)

(e)

(f)