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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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Nombre: Llopis-Albert;Val ...
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dc.contributor.author Llopis-Albert, Carlos es_ES
dc.contributor.author Valero, Francisco es_ES
dc.contributor.author Mata, Vicente es_ES
dc.contributor.author Escarabajal, Rafael J. es_ES
dc.contributor.author Zamora-Ortiz, Pau es_ES
dc.contributor.author Pulloquinga, José L. es_ES
dc.date.accessioned 2020-05-18T09:50:14Z
dc.date.available 2020-05-18T09:50:14Z
dc.date.issued 2020-04-16
dc.identifier.uri http://hdl.handle.net/10251/143534
dc.description.abstract [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 Kinematic manipulator with four degrees of freedom and the corresponding algorithms to address such problem, with the subsequent test on an actual robot. The cost function minimizes the forces applied by the actuators along the trajectory and considers singular positions and the feasibility of the active generalized coordinates. Results are compared among different algorithms, including evolutionary, heuristics, multi-strategy and gradient-based optimizers. es_ES
dc.description.sponsorship 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 es_ES
dc.language Inglés es_ES
dc.publisher Universitat Politècnica de València es_ES
dc.relation.ispartof Multidisciplinary Journal for Education, Social and Technological Sciences es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Parallel robot es_ES
dc.subject Non-linear optimization es_ES
dc.subject Rehabilitation es_ES
dc.subject Trajectory es_ES
dc.subject Singularity es_ES
dc.title Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.4995/muse.2020.13352
dc.relation.projectID 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/
dc.rights.accessRights Abierto es_ES
dc.contributor.affiliation Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials es_ES
dc.contributor.affiliation Universitat Politècnica de València. Escuela Técnica Superior de Ingeniería del Diseño - Escola Tècnica Superior d'Enginyeria del Disseny es_ES
dc.description.bibliographicCitation 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 es_ES
dc.description.accrualMethod OJS es_ES
dc.relation.publisherversion https://doi.org/10.4995/muse.2020.13352 es_ES
dc.description.upvformatpinicio 113 es_ES
dc.description.upvformatpfin 127 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 7 es_ES
dc.description.issue 1 es_ES
dc.identifier.eissn 2341-2593
dc.relation.pasarela OJS\13352 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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