Delta Robot Feedforward Dynamics Control

For this job I worked with a Codian Delta Robot to identify the Minimal Parameters of an Inverse Dynamics Model. This was done by generating Fourier-series based Trajectories to obtain an optimal excitation. The dynamic model was then calculated by Minimum-Least-Squares in MATLAB. I then converted the resulting model to run on an SPS Controller and created a Torque Feedforward Controller. Implementing this controller lead to a decrease in trajectory error.