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

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

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dc.contributor.author Cazalilla, J. es_ES
dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Díaz-Rodríguez, Miguel es_ES
dc.date.accessioned 2020-09-18T03:34:31Z
dc.date.available 2020-09-18T03:34:31Z
dc.date.issued 2016-04-02 es_ES
dc.identifier.issn 1539-7734 es_ES
dc.identifier.uri http://hdl.handle.net/10251/150305
dc.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." es_ES
dc.description.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 a robotic device, the contact forces are limited by the allowed strength of the human limbs and their complex-joints. In these cases, a control scheme which considers both position and force control is essential to avoid damage to either the end effector or the object interacting with the robot. This paper therefore develops a real-time force/position control scheme for a three-DOF parallel robot whose end effector holds a DOF one translation (1T) and two rotations (2R). The implemented hybrid force/position control considers, as a reference, the normal force on the mobile platform, which is measured by means of a load cell installed on the platform. The position control is designed to track the orientations of the robot either in joint or task space using a model-based control scheme with identified parameters. Moreover, the force control is based on a PD action. The control scheme is developed through simulations, before being applied to an actual parallel robot. The findings show that with the implemented controller, the actual robot accomplishes the reference values for the normal force on the mobile platform, while at the same time the platform accurately follows the required angular orientation. es_ES
dc.description.sponsorship 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 work was also partially supported by the Fondo Nacional de Ciencia, Tecnologia e Innovacion (FONACIT-Venezuela). es_ES
dc.language Inglés es_ES
dc.publisher Taylor & Francis es_ES
dc.relation.ispartof Mechanics Based Design of Structures and Machines es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Dynamics es_ES
dc.subject Force control es_ES
dc.subject Mechatronics es_ES
dc.subject Parallel manipulator es_ES
dc.subject Robot control es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments es_ES
dc.type Artículo es_ES
dc.type Comunicación en congreso es_ES
dc.identifier.doi 10.1080/15397734.2015.1030679 es_ES
dc.relation.projectID info:eu-repo/grantAgreement/MICINN//DPI2011-28507-C02-01/ES/DESARROLLO DE CONTROLADORES BASADOS EN MISIONES/ / es_ES
dc.relation.projectID 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/ es_ES
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. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica es_ES
dc.description.bibliographicCitation 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 es_ES
dc.description.accrualMethod S es_ES
dc.relation.conferencename 5th International Symposium on Multibody Systems and Mechatronics (MuSMe 2014) es_ES
dc.relation.conferencedate Octubre 21-24,2014 es_ES
dc.relation.conferenceplace Huatulco Oaxaca, Mexico es_ES
dc.relation.publisherversion https://doi.org/10.1080/15397734.2015.1030679 es_ES
dc.description.upvformatpinicio 16 es_ES
dc.description.upvformatpfin 31 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 44 es_ES
dc.description.issue 1-2 es_ES
dc.relation.pasarela S\306981 es_ES
dc.contributor.funder European Regional Development Fund es_ES
dc.contributor.funder Fondo Nacional de Ciencia, Tecnología e Innovación, Venezuela es_ES
dc.contributor.funder Ministerio de Ciencia e Innovación es_ES
dc.contributor.funder Ministerio de Economía y Competitividad es_ES
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