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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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