Cazalilla, J.; Vallés Miquel, Marina; Mata Amela, Vicente; Díaz Rodríguez, Miguel Ángel; Valera Fernández, Ángel(Elsevier, 2014-10)
Model-based control improves robot performance provided that the dynamics parameters are estimated accurately. However, some of the model parameters change with time, e.g. friction parameters and unknown payload. Particularly, ...
Acuña-Bravo, Wilber; Ríos-Bolívar, Addison(Universitat Politècnica de València, 2008-07-09)
[EN] In this contribution, a method for practical implementation of control systems with compensation of saturation is shown. The technique is applied in linear systems taking as a basis a fault diagnosis mechanism. To ...
Lamanna, Rosalba; Gimón, Raquel(Universitat Politècnica de València, 2009-12-02)
[EN] A Generalized Predictive Control scheme (GPC) is developed, based on a neural model of the process, and then applied on a laboratory neutralization reactor. The neural model, which is obtained previously by identification, ...
[EN] A robot interacting with the environment requires that the end effector \hboxposition is tracked and that the forces of contact are kept below certain reference values. For instance, in a rehabilitation session using ...
[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 ...