Show simple item record

dc.contributor.authorPulloquinga, José L.
dc.contributor.authorEscarabajal, Rafael J.
dc.contributor.authorFerrándiz, Jesús
dc.contributor.authorVallés, Marina
dc.contributor.authorMata, Vicente
dc.contributor.authorUrízar Arana, Mónica ORCID
dc.date.accessioned2021-07-14T10:54:58Z
dc.date.available2021-07-14T10:54:58Z
dc.date.issued2021-06-13
dc.identifier.citationSensors 21(12) : (2021) // Article ID 4080es_ES
dc.identifier.issn1424-8220
dc.identifier.urihttp://hdl.handle.net/10810/52455
dc.description.abstractThe high accuracy and dynamic performance of parallel robots (PRs) make them suitable to ensure safe operation in human–robot interaction. However, these advantages come at the expense of a reduced workspace and the possible appearance of type II singularities. The latter is due to the loss of control of the PR and requires further analysis to keep the stiffness of the PR even after a singular configuration is reached. All or a subset of the limbs could be responsible for a type II singularity, and they can be detected by using the angle between two output twist screws (OTSs). However, this angle has not been applied in control because it requires an accurate measure of the pose of the PR. This paper proposes a new hybrid controller to release a 4-DOF PR from a type II singularity based on a real time vision system. The vision system data are used to automatically readapt the configuration of the PR by moving the limbs identified by the angle between two OTSs. This controller is intended for a knee rehabilitation PR, and the results show how this release is accomplished with smooth controlled movements where the patient’s safety is not compromised.es_ES
dc.description.sponsorshipThis research was funded by the FEDER-CICYT project with reference PID2020-119522RB-I00 (ROBOTS PARALELOS DE REHABILITACION: DETECCION Y CONTROL DE SINGULARIDADES EN PRESENCIA DE ERRORES DE MANUFACTURA), Spain.es_ES
dc.language.isoenges_ES
dc.publisherMDPIes_ES
dc.relationinfo:eu-repo/grantAgreement/MCI/CPID2020-119522RB-I00es_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/
dc.subjectsingular configurationes_ES
dc.subjectparallel robotes_ES
dc.subjectmotion controles_ES
dc.subject3D trackinges_ES
dc.subjectscrew theoryes_ES
dc.titleVision-Based Hybrid Controller to Release a 4-DOF Parallel Robot from a Type II Singularityes_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.date.updated2021-06-24T14:12:59Z
dc.rights.holder© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).es_ES
dc.relation.publisherversionhttps://www.mdpi.com/1424-8220/21/12/4080es_ES
dc.identifier.doi10.3390/s21124080
dc.departamentoesIngeniería mecánica
dc.departamentoeuIngeniaritza mekanikoa


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record

© 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Except where otherwise noted, this item's license is described as © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).