- -

Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

RiuNet: Institutional repository of the Polithecnic University of Valencia

Share/Send to

Cited by

Statistics

  • Estadisticas de Uso

Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

Show full item record

Cazalilla, J.; Vallés Miquel, M.; Valera Fernández, Á.; Mata Amela, V.; Díaz-Rodríguez, M. (2016). Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments. Mechanics Based Design of Structures and Machines. 44(1-2):16-31. https://doi.org/10.1080/15397734.2015.1030679

Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/150305

Files in this item

Item Metadata

Title: Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments
Author: Cazalilla, J. Vallés Miquel, Marina Valera Fernández, Ángel Mata Amela, Vicente Díaz-Rodríguez, Miguel
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
[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 ...[+]
Subjects: Dynamics , Force control , Mechatronics , Parallel manipulator , Robot control
Copyrigths: Reserva de todos los derechos
Source:
Mechanics Based Design of Structures and Machines. (issn: 1539-7734 )
DOI: 10.1080/15397734.2015.1030679
Publisher:
Taylor & Francis
Publisher version: https://doi.org/10.1080/15397734.2015.1030679
Conference name: 5th International Symposium on Multibody Systems and Mechatronics (MuSMe 2014)
Conference place: Huatulco Oaxaca, Mexico
Conference date: Octubre 21-24,2014
Project ID:
info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/ /
info:eu-repo/grantAgreement/MINECO//DPI2013-44227-R/ES/METODOLOGIA DE DISEÑO DE SISTEMAS BIOMECATRONICOS. APLICACION AL DESARROLLO DE UN ROBOT PARALELO HIBRIDO PARA DIAGNOSTICO Y REHABILITACION/
Description: "This is an Author's Accepted Manuscript of an article published in Cazalilla, José, Marina Vallés, Ángel Valera, Vicente Mata, and Miguel Díaz-Rodríguez. 2016. Hybrid Force/Position Control for a 3-DOF 1T2R Parallel Robot: Implementation, Simulations and Experiments. Mechanics Based Design of Structures and Machines 44 (1 2). Informa UK Limited: 16 31. doi:10.1080/15397734.2015.1030679, available online at: https://www.tandfonline.com/doi/full/10.1080/15397734.2015.1030679."
Thanks:
The authors wish to thank the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial funding of this study under the projects DPI2011-28507-C02-01 and DPI2013-44227-R. This ...[+]
Type: Artículo Comunicación en congreso

References

Åström, K. J., & Murray, R. M. (2008). Feedback Systems. doi:10.1515/9781400828739

Bellakehal, S., Andreff, N., Mezouar, Y., & Tadjine, M. (2011). Force/position control of parallel robots using exteroceptive pose measurements. Meccanica, 46(1), 195-205. doi:10.1007/s11012-010-9411-z

Cao, R., Gao, F., Zhang, Y., Pan, D., & Chen, W. (2014). A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace. Mechanics Based Design of Structures and Machines, 43(1), 1-18. doi:10.1080/15397734.2014.904234 [+]
Åström, K. J., & Murray, R. M. (2008). Feedback Systems. doi:10.1515/9781400828739

Bellakehal, S., Andreff, N., Mezouar, Y., & Tadjine, M. (2011). Force/position control of parallel robots using exteroceptive pose measurements. Meccanica, 46(1), 195-205. doi:10.1007/s11012-010-9411-z

Cao, R., Gao, F., Zhang, Y., Pan, D., & Chen, W. (2014). A New Parameter Design Method of a 6-DOF Parallel Motion Simulator for a Given Workspace. Mechanics Based Design of Structures and Machines, 43(1), 1-18. doi:10.1080/15397734.2014.904234

Carretero, J. A., Podhorodeski, R. P., Nahon, M. A., & Gosselin, C. M. (1999). Kinematic Analysis and Optimization of a New Three Degree-of-Freedom Spatial Parallel Manipulator. Journal of Mechanical Design, 122(1), 17-24. doi:10.1115/1.533542

Clavel, R. (1988). DELTA, a fast robot with parallel geometry.Proceedings of 18th International Symposium on Industrial Robot, Lausanne, April, 91–100.

Díaz-Rodríguez, M., Mata, V., Valera, Á., & Page, Á. (2010). A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters. Mechanism and Machine Theory, 45(9), 1337-1356. doi:10.1016/j.mechmachtheory.2010.04.007

Diaz-Rodriguez, M., Valera, A., Mata, V., & Valles, M. (2013). Model-Based Control of a 3-DOF Parallel Robot Based on Identified Relevant Parameters. IEEE/ASME Transactions on Mechatronics, 18(6), 1737-1744. doi:10.1109/tmech.2012.2212716

Farhat, N., Mata, V., Page, Á., & Valero, F. (2008). Identification of dynamic parameters of a 3-DOF RPS parallel manipulator. Mechanism and Machine Theory, 43(1), 1-17. doi:10.1016/j.mechmachtheory.2006.12.011

Garg, A., Vikram, C. S., Gupta, S., Sutar, M. K., Pathak, P. M., Mehta, N. K., … Gupta, V. K. (2014). Design and Development of In Vivo Robot for Biopsy. Mechanics Based Design of Structures and Machines, 42(3), 278-295. doi:10.1080/15397734.2014.898587

Gough, V. E., Whitehall, S. G. (1962). Universal tire test machine.Proceedings of 9th International Technical Congress FISITA, pp. 117–135.

García de Jalón, J., & Bayo, E. (1994). Kinematic and Dynamic Simulation of Multibody Systems. Mechanical Engineering Series. doi:10.1007/978-1-4612-2600-0

Lee, K.-M., & Arjunan, S. (1991). A three-degrees-of-freedom micromotion in-parallel actuated manipulator. IEEE Transactions on Robotics and Automation, 7(5), 634-641. doi:10.1109/70.97875

Li, Y., & Xu, Q. (2007). Design and Development of a Medical Parallel Robot for Cardiopulmonary Resuscitation. IEEE/ASME Transactions on Mechatronics, 12(3), 265-273. doi:10.1109/tmech.2007.897257

Merlet, J.-P. (2000). Parallel Robots. Solid Mechanics and Its Applications. doi:10.1007/978-94-010-9587-7

Pierrot, F., Nabat, V., Company, O., Krut, S., & Poignet, P. (2009). Optimal Design of a 4-DOF Parallel Manipulator: From Academia to Industry. IEEE Transactions on Robotics, 25(2), 213-224. doi:10.1109/tro.2008.2011412

Rosillo, N., Valera, A., Benimeli, F., Mata, V., & Valero, F. (2011). Real‐time solving of dynamic problem in industrial robots. Industrial Robot: An International Journal, 38(2), 119-129. doi:10.1108/01439911111106336

Steward, D. A. (1965). A platform with 6 degrees of freedom.Proceedings of the Institution of Mechanical Engineers, Part 1, vol. 15, pp. 371–386.

Valera, A., Benimeli, F., Solaz, J., De Rosario, H., Robertsson, A., Nilsson, K., … Mellado, M. (2011). A Car-Seat Example of Automated Anthropomorphic Testing of Fabrics Using Force-Controlled Robot Motions. IEEE Transactions on Automation Science and Engineering, 8(2), 280-291. doi:10.1109/tase.2010.2079931

Vallés, M., Díaz-Rodríguez, M., Valera, Á., Mata, V., & Page, Á. (2012). Mechatronic Development and Dynamic Control of a 3-DOF Parallel Manipulator. Mechanics Based Design of Structures and Machines, 40(4), 434-452. doi:10.1080/15397734.2012.687292

Volpe, R., & Khosla, P. (1993). A theoretical and experimental investigation of explicit force control strategies for manipulators. IEEE Transactions on Automatic Control, 38(11), 1634-1650. doi:10.1109/9.262033

Zarkandi, S. (2011). Kinematics and Singularity Analysis of a Parallel Manipulator with Three Rotational and One Translational DOFs. Mechanics Based Design of Structures and Machines, 39(3), 392-407. doi:10.1080/15397734.2011.559149

Zeng, G., & Hemami, A. (1997). An overview of robot force control. Robotica, 15(5), 473-482. doi:10.1017/s026357479700057x

[-]

recommendations

 

This item appears in the following Collection(s)

Show full item record