Backstepping Control of an Industrial Delta Parallel Robot Model

In this research, a backstepping control design has been realized to improve the trajectory tracking performance of a delta robot system, which stands out with their lightness, speed and precision. As a result of the forward-inverse kinematic analysis of the delta robot system, the working area was determined, and different trajectory scenarios were created to remain within this area. The control performance under these designed trajectory conditions was tested in simulation studies.