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Listar por palabra clave "Robot control"

Mostrando ítems 21-32 de 32

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Integrated sliding-mode algorithms in robot tracking applications

Gracia Calandin, Luis Ignacio; Garelli, Fabricio; Sala Piqueras, Antonio (Elsevier, 2013-02)

An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in ...
Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

Vallés Miquel, Marina; Araujo-Gómez, P.; Mata Amela, Vicente; Valera Fernández, Ángel; Díaz-Rodríguez, Miguel; Page Del Pozo, Alvaro Felipe; Farhat, Nidal (Taylor & Francis, 2018)

[EN] Although parallel manipulators started with the introduction of architectures with six degrees of freedom, a vast number of applications require less than six degrees of freedom. Consequently, scholars have proposed ...
Mechatronic development and dynamic control of a 3-DOF parallel manipulator

Vallés Miquel, Marina; Díaz-Rodríguez, Miguel; Valera Fernández, Ángel; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe (Taylor & Francis, 2012-09)

The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion ...
Mejora del sistema de control para impresoras 3D

Martínez Martínez, Abel (Universitat Politècnica de València, 2015-10-21)

[EN] This paper proposes to modify the control unit of 3D printers to improve the performance of such systems. For this, step by step motors will be replaced with DC motors equipped with encoders. Further, a parametric ...
Model-based control of a 3-DOF parallel robot based on identified relevant parameters

Díaz-Rodríguez, Miguel; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina (Institute of Electrical and Electronics Engineers (IEEE), 2013-12)

This paper presents in detail how to model, identify, and control a 3-DOF prismatics-revolute-spherical parallel manipulator in terms of relevant parameters. A reduced model based on a set of relevant parameters is obtained ...
Modelado cinemático y dinámico de un robot paralelo con arquitectura 3UPS-RPU. Aplicación en la simulación de robots de rehabilitación de miembro inferior

Nedosseikine, Daniel (Universitat Politècnica de València, 2021-09-16)

[ES] En los últimos años, los campos de aplicación de la robótica han crecido enormemente. Así, además de las aplicaciones industriales típicas (pick&place, soldadura por arco o por puntos, atención de máquinas), hoy en ...
PWM and PFM for visual servoing in fully decoupled approaches

Muñoz Benavent, Pau; Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Tornero Montserrat, Josep (Elsevier, 2015-03)

In this paper, novel visual servoing techniques based on Pulse Width Modulation (PWM) and Pulse Frequency Modulation (PFM) are presented. In order to apply previous pulse modulations, a fully decoupled position based visual ...
Revisión de Esquemas de Control Visual y Propuesta de Mejora

Gracia Calandin, Luis Ignacio; Pérez Vidal, Carlos (Universitat Politècnica de València, 2010-04-09)

[ES] En este trabajo se realiza una revisión crítica de los esquemas de control visual desarrollados hasta la fecha y se propone uno nuevo que los mejora en varios aspectos. En primer lugar se introducen los esquemas básicos ...
Robot coordination using task-priority and sliding-mode techniques

Gracia Calandin, Luis Ignacio; Sala Piqueras, Antonio; Garelli, Fabricio (Elsevier, 2014-02)

In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the ...
Robust fulfillment of constraints in robot visual servoing

Muñoz-Benavent, Pau; Gracia Calandin, Luis Ignacio; Solanes Galbis, Juan Ernesto; Esparza Peidro, Alicia; Tornero Montserrat, Josep (Elsevier, 2018-02)

[EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing. In particular, different types of constraints are defined in order to: fulfill the visibility constraints ...
Sobre el control por moldeo de energía más inyección de amortiguamiento de sistemas mecánicos

Sandoval, Jesús; Kelly, Rafael; Santibáñez, Víctor (Universitat Politècnica de València, 2022-09-30)

[EN] This paper presents a tutorial about a controllers design method based on the energy shaping plus damping injection for the control of mechanical systems. A unified theoretical framework is provided to solve different ...
Solving the Inverse Dynamic Control for Low Cost Real-Time Industrial Robot Control Applications

Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina; Valero, F.; Rosillo, N.; Benimeli, Francesc (Cambridge University Press, 2003-06)

[EN] This work deals with the real-time robot control implementation. In this paper, an algorithm for solving Inverse Dynamic Problem based on the Gibbs-Appell equations is proposed and verified. It is developed using ...