Delta Robot Simulation & Control in MATLAB | PD + Feedforward | RK4 Dynamics
Автор: AUTOCRAFT STUDIO
Загружено: 2026-02-05
Просмотров: 55
Описание:
In this video, I present a complete simulation and control demo of a 3-DOF Delta robot, developed in MATLAB as part of a university Robotics course.
The project demonstrates the full robotics workflow, including:
Forward and inverse kinematics of a parallel Delta robot
Jacobian analysis and singularity monitoring
Nonlinear dynamic modeling with gravity and friction effects
Smooth trajectory generation with continuous position, velocity, and acceleration
Closed-loop PD control with feedforward dynamic compensation
Numerical simulation using a 4th-order Runge–Kutta (RK4) integration method
The video shows:
Desired vs actual end-effector trajectory
Joint-space tracking performance
Joint errors and actuator torque profiles
A realistic 3D animation of the Delta robot motion
This project focuses on bridging robotics theory with realistic simulation, and serves as a strong foundation for advanced control and automation applications.
🔔 If you’re interested in robotics, control systems, and MATLAB simulations, don’t forget to like and subscribe.
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