Vallés Miquel, Marina; Cazalilla, J.; Valera Fernández, Ángel; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe; Díaz Rodríguez, Miguel Ángel(Cambridge University Press, 2015-03-13)
This paper presents the design, kinematics, dynamics and control of a low-cost parallel rehabilitation robot developed at the Universitat Polit`ecnica de Valencia. Several position and force controllers have been tested ...
Valera Fernández, Ángel; Benimeli Andreu, Francisco Javier; Solaz Sanahuja, José Salvador; De Rosario Martínez, Helios; Robertsson, Anders; Nilsson ., Klass; Zotovic Stanisic, Ranko; Mellado Arteche, Martín(Institute of Electrical and Electronics Engineers (IEEE), 2011-04)
For the last years, automation is widely used to relieve humans from repetitive tasks, primarily and firstly within manufacturing. However, for products with less ideal (or hard to model) properties, and when forces depends ...
Gracia Calandin, Luis Ignacio; Solanes Galbis, Juan Ernesto; Muñoz-Benavent, Pau; Valls Miro, Jaime; Perez-Vidal, Carlos; Tornero Montserrat, Josep(Elsevier, 2018-06)
[EN] This work presents a hybrid position-force control of robots in order to apply surface treatments such as polishing, grinding, finishing, deburring, etc. The robot force control is designed using sliding mode concepts ...
Zotovic Stanisic, Ranko; Valera Fernández, Ángel(Cambridge University Press (CUP), 2012-07)
This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. ...
Perez-Vidal, C.; Gracia, L.; de Paco, J.M.; Wirkus, M.; Azorin, J.M.; de Gea, J.(Taylor & Francis, 2018)
[EN] This work presents a robotic-based solution devised to automate the product packaging in industrial environments. Although the proposed approach is illustrated for the case of the shoe industry, it applies to many ...
Tomás Soro, Carlos(Universitat Politècnica de València, 2019-11-11)
[ES] El brazo robot colaborativo UR3 tiene dos formas de control de fuerza implementadas. Sin embargo, estas tienen ciertas limitaciones. El objetivo de este TFM es estudiar ambas formas y tratar de implementar otras propias ...
Ferriz Beneito, José Antonio(Universitat Politècnica de València, 2018-11-14)
[ES] Este documento contiene la memoria del Trabajo Fin de Grado titulado “Control de fuerza con el brazo robot colaborativo UR3” escrito por Jose Antonio Ferriz Beneito.
Los objetivos a lograr durante la realización de ...
[EN] In this work the design of a linear observer–linear controller robust output feedback scheme is introduced for simultaneous trajectory tracking of position and force in fully actuated robot manipulators. The unknown ...
Sánchez-Sánchez, P.; Arteaga-Pérez, M. A.(Universitat Politècnica de València, 2020-09-30)
[ES] La manipulación cooperativa de un objeto por dos o más brazos robóticos requiere controlar tanto el movimiento del objeto como las fuerzas ejercidas por los manipuladores. En términos de cinemática y estática, el ...
Ferrándiz Alarcón, Jesús(Universitat Politècnica de València, 2021-10-19)
[ES] Con el presente trabajo se pretende llevar a cabo el desarrollo de controladores usando una arquitectura modular basada en software libre de código abierto. Para ello en la controladora se ejecutará el sistema operativo ...
López Nácher, Francisco Javier(Universitat Politècnica de València, 2019-04-12)
[ES] El concepto de producción en los entornos industriales ha evolucionado notablemente en los últimos años, relacionado directamente con la proliferación de la robótica industrial. Concretamente, una nueva tipología de ...
[EN] In this work the design of an experimental test platform for analysis of the mechanical behavior of car seats during passenger ingress and egress is presented. This development has been performed in two steps: the ...
ABU DAKKA, FARES JAWAD MOH D(Universitat Politècnica de València, 2016-03-14)
[EN] This work presents a methodology for learning and adaptation of a 3-PRS parallel robot skills for ankle rehabilitation. Passive exercises have been designed to train dorsi/plantar flexion, inversion/eversion ankle ...
[EN] In computer assisted orthopedic surgery (CAOS), bone drilling performed during long bone fracture repair (in order to stabilize it with plates, screws, or pins) is a complex task that requires a high accuracy while ...
Pérez-Ubeda, Rodrigo; Zotovic Stanisic, Ranko; Gutiérrez, S. C.(MDPI AG, 2020-06)
[EN] Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques ...
[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 ...
Liste, Víctor; Anigstein, Mauricio(Universitat Politècnica de València, 2007-11-07)
[EN] This paper addresses the implementation of force control in industrial robots with an existing position control. The environment-robot system stiffness during the contact and the rate at which corrections of Cartesian ...
[EN] Exoskeletons are robots attached to the extremities of the human body focused on increasing their strength, speed and performance primarily. The applications are in the military, industry and medical. The exoskeleton ...
Abu-Dakka, Fares J.; Valera Fernández, Ángel; Escalera, Juan A.; Abderrahim, Mohamed; Page Del Pozo, Alvaro Felipe; Mata Amela, Vicente(MDPI AG, 2020-11)
[EN] Ankle injuries are among the most common injuries in sport and daily life. However, for their recovery, it is important for patients to perform rehabilitation exercises. These exercises are usually done with a therapist's ...
Pérez Ubeda, Rodrigo Alonso(Universitat Politècnica de València, 2022-04-07)
[ES] El mecanizado con brazos robots ha sido estudiado aproximadamente desde los años 90, durante este tiempo se han llevado a cabo importantes avances y descubrimientos en cuanto a su campo de aplicación. En general, los ...