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Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

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Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

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Llopis-Albert, C.; Valero, F.; Mata, V.; Escarabajal, RJ.; Zamora-Ortiz, P.; Pulloquinga, JL. (2020). Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance. Multidisciplinary Journal for Education, Social and Technological Sciences. 7(1):113-127. https://doi.org/10.4995/muse.2020.13352

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Título: Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance
Autor: Llopis-Albert, Carlos Valero, Francisco Mata, Vicente Escarabajal, Rafael J. Zamora-Ortiz, Pau Pulloquinga, José L.
Entidad UPV: Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny
Fecha difusión:
Resumen:
[EN] The positioning of the anchoring points of a Parallel Kinematic Manipulator has an important impact on its later performance. This paper presents an optimization problem to deal with the reconfiguration of a Parallel ...[+]
Palabras clave: Parallel robot , Non-linear optimization , Rehabilitation , Trajectory , Singularity
Derechos de uso: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Fuente:
Multidisciplinary Journal for Education, Social and Technological Sciences. (eissn: 2341-2593 )
DOI: 10.4995/muse.2020.13352
Editorial:
Universitat Politècnica de València
Versión del editor: https://doi.org/10.4995/muse.2020.13352
Código del Proyecto:
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/
Agradecimientos:
This work was supported by the Spanish Ministry of Education, Culture and Sports through the Project for Research and Technological Development with Ref. DPI2017-84201-R
Tipo: Artículo

References

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