h1

% IMPORTANT: The following is UTF-8 encoded.  This means that in the presence
% of non-ASCII characters, it will not work with BibTeX 0.99 or older.
% Instead, you should use an up-to-date BibTeX implementation like “bibtex8” or
% “biber”.

@PHDTHESIS{Wu:1026562,
      author       = {Wu, Mingkun},
      othercontributors = {Corves, Burkhard and Schmitt, Robert H.},
      title        = {{T}racking accuracy improvement and residual vibration
                      suppression of delta robots},
      school       = {Rheinisch-Westfälische Technische Hochschule Aachen},
      type         = {Dissertation},
      address      = {Aachen},
      publisher    = {RWTH Aachen University},
      reportid     = {RWTH-2026-00969},
      pages        = {1 Online-Ressource : Illustrationen},
      year         = {2026},
      note         = {Veröffentlicht auf dem Publikationsserver der RWTH Aachen
                      University; Dissertation, Rheinisch-Westfälische Technische
                      Hochschule Aachen, 2026},
      abstract     = {Industrial robots are widely employed in various production
                      and manufacturing processes. As a typical parallel robot,
                      the Delta robot is extensively used in packaging and sorting
                      tasks across industries such as food, pharmaceuticals, and
                      electronics. This widespread application is primarily
                      attributed to its unique architecture, in which the
                      actuators are mounted on a fixed base, enabling high-speed
                      and high-acceleration movements. To achieve high
                      acceleration capabilities while minimizing energy
                      consumption, Delta robots are typically designed with
                      lightweight structures. However, this often leads to
                      significant vibration issues under high acceleration, which
                      severely deteriorate their operational accuracy and limits
                      their potential for application in precision-critical
                      domains. To tackle these challenges, this thesis
                      investigates the problem from three key aspects: parameter
                      optimization, controller design, and trajectory
                      optimization. The aim is to improve the operational accuracy
                      of the Delta robot while minimizing residual vibrations,
                      thereby broadening its applicability in precision-critical
                      applications. More precisely, a parameter optimization
                      approach is first proposed for Delta robots, where the
                      kinematic, rigid-body dynamic, and elastodynamic
                      performances are simultaneously considered. Then, when users
                      have access to the control system of Delta robots, two
                      controllers are designed to achieve trajectory tracking when
                      the robots encounter different obstacles, such as model
                      uncertainties and unavailable velocity information.
                      Furthermore, to mitigate residual vibrations, the
                      rigid-flexible coupling dynamic model of the Delta robot is
                      established, and a vibration suppression controller is
                      designed based on this model. However, since the proposed
                      vibration suppression controller requires real-time
                      vibration signal measurement, it increases the cost due to
                      the need for additional vibration sensors. To address this,
                      an input shaper is designed to mitigate residual vibrations
                      by modifying only the reference trajectories. An iterative
                      learning controller is proposed to achieve high-precision
                      trajectory tracking of the Delta robot. Since
                      controller-based accuracy improvement methods for the Delta
                      robot require access to low-level controllers, which users
                      typically cannot redesign or modify. Additionally, the input
                      shaper inevitably increases traversal time and may lead to
                      trajectory deformation. Therefore, a trajectory
                      auto-generation and optimization approach is proposed to
                      simultaneously ensure vibration suppression and accuracy
                      improvement.},
      cin          = {411910},
      ddc          = {620},
      cid          = {$I:(DE-82)411910_20180101$},
      typ          = {PUB:(DE-HGF)11},
      doi          = {10.18154/RWTH-2026-00969},
      url          = {https://publications.rwth-aachen.de/record/1026562},
}