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dc.contributor.authorBengoa Ganado, Pablo
dc.contributor.authorZubizarreta Pico, Asier ORCID
dc.contributor.authorCabanes Axpe, Itziar ORCID
dc.contributor.authorMancisidor Barinagarrementeria, Aitziber ORCID
dc.contributor.authorPinto Cámara, Charles Richard
dc.contributor.authorMata Cantón, Sara ORCID
dc.date.accessioned2018-05-28T13:38:09Z
dc.date.available2018-05-28T13:38:09Z
dc.date.issued2017-09
dc.identifier.citationSensors 17(9) : (2017) // Article ID 1934es_ES
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/10810/27142
dc.description.abstractThe control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software.es_ES
dc.description.sponsorshipThis work was supported in part by the Spanish Ministry of Economy and Competitiveness under grant BES-2013-066142, UPV/EHU's PPG17/56 projects, Spanish Ministry of Economy and Competitiveness' MINECO & FEDER inside DPI-2012-32882 project and the Basque Country Government's (GV/EJ) under PRE-2014-1-152 and BFI-2012-223 grants and under recognized research group IT914-16.es_ES
dc.language.isoenges_ES
dc.publisherMDPIes_ES
dc.relationinfo:eu-repo/grantAgreement/MINECO/BES-2013-066142es_ES
dc.relationinfo:eu-repo/grantAgreement/MINECO/DPI-2012-32882es_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subjectflexible linkmanipulatores_ES
dc.subjectparallel robotses_ES
dc.subjectkinematicses_ES
dc.subjectFinite ElementMethodes_ES
dc.subjectvirtual sensorses_ES
dc.subjectfused smart-sensores_ES
dc.subjectdynamic analysises_ES
dc.subjectmanipulatorses_ES
dc.subjectcalibrationes_ES
dc.subjecttutoriales_ES
dc.subjectarmses_ES
dc.titleVirtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robotses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.rights.holderThis is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).es_ES
dc.rights.holderAtribución 3.0 España*
dc.relation.publisherversionhttp://www.mdpi.com/1424-8220/17/9/1934es_ES
dc.identifier.doi10.3390/s17091934
dc.departamentoesIngeniería de sistemas y automáticaes_ES
dc.departamentoesIngeniería mecánicaes_ES
dc.departamentoeuIngeniaritza mekanikoaes_ES
dc.departamentoeuSistemen ingeniaritza eta automatikaes_ES


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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
Except where otherwise noted, this item's license is described as This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).