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dc.contributor.author | Pulloquinga-Zapata, José | es_ES |
dc.contributor.author | Escarabajal-Sánchez, Rafael José | es_ES |
dc.contributor.author | Ferrándiz, Jesús | es_ES |
dc.contributor.author | Vallés Miquel, Marina | es_ES |
dc.contributor.author | Mata Amela, Vicente | es_ES |
dc.contributor.author | Urízar, Mónica | es_ES |
dc.date.accessioned | 2022-10-10T18:07:25Z | |
dc.date.available | 2022-10-10T18:07:25Z | |
dc.date.issued | 2021-06 | es_ES |
dc.identifier.uri | http://hdl.handle.net/10251/187373 | |
dc.description.abstract | [EN] The high accuracy and dynamic performance of parallel robots (PRs) make them suitable to ensure safe operation in human¿robot interaction. However, these advantages come at the expense of a reduced workspace and the possible appearance of type II singularities. The latter is due to the loss of control of the PR and requires further analysis to keep the stiffness of the PR even after a singular configuration is reached. All or a subset of the limbs could be responsible for a type II singularity, and they can be detected by using the angle between two output twist screws (OTSs). However, this angle has not been applied in control because it requires an accurate measure of the pose of the PR. This paper proposes a new hybrid controller to release a 4-DOF PR from a type II singularity based on a real time vision system. The vision system data are used to automatically readapt the configuration of the PR by moving the limbs identified by the angle between two OTSs. This controller is intended for a knee rehabilitation PR, and the results show how this release is accomplished with smooth controlled movements where the patient¿s safety is not compromised. | es_ES |
dc.description.sponsorship | This research was funded by the FEDER-CICYT project with reference PID2020-119522RBI00 (ROBOTS PARALELOS DE REHABILITACION: DETECCION Y CONTROL DE SINGULARIDADES EN PRESENCIA DE ERRORES DE MANUFACTURA), Spain. | es_ES |
dc.language | Inglés | es_ES |
dc.publisher | MDPI AG | es_ES |
dc.relation.ispartof | Sensors | es_ES |
dc.rights | Reconocimiento (by) | es_ES |
dc.subject | Singular configuration | es_ES |
dc.subject | Parallel robot | es_ES |
dc.subject | Motion control | es_ES |
dc.subject | 3D tracking | es_ES |
dc.subject | Screw theory | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.subject.classification | INGENIERIA MECANICA | es_ES |
dc.title | Vision-Based Hybrid Controller to Release a 4-DOF Parallel Robot from a Type II Singularity | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.3390/s21124080 | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/CICYT//PID2020-119522RBI00//ROBOTS PARALELOS DE REHABILITACION: DETECCION Y CONTROL DE SINGULARIDADES EN PRESENCIA DE ERRORES DE MANUFACTURA/ | es_ES |
dc.rights.accessRights | Abierto | 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.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials | es_ES |
dc.description.bibliographicCitation | Pulloquinga-Zapata, J.; Escarabajal-Sánchez, RJ.; Ferrándiz, J.; Vallés Miquel, M.; Mata Amela, V.; Urízar, M. (2021). Vision-Based Hybrid Controller to Release a 4-DOF Parallel Robot from a Type II Singularity. Sensors. 21(12):1-21. https://doi.org/10.3390/s21124080 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | https://doi.org/10.3390/s21124080 | es_ES |
dc.description.upvformatpinicio | 1 | es_ES |
dc.description.upvformatpfin | 21 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 21 | es_ES |
dc.description.issue | 12 | es_ES |
dc.identifier.eissn | 1424-8220 | es_ES |
dc.identifier.pmid | 34199313 | es_ES |
dc.identifier.pmcid | PMC8231801 | es_ES |
dc.relation.pasarela | S\439773 | es_ES |
dc.contributor.funder | European Regional Development Fund | es_ES |
dc.contributor.funder | Comisión Interministerial de Ciencia y Tecnología | es_ES |
dc.subject.ods | 03.- Garantizar una vida saludable y promover el bienestar para todos y todas en todas las edades | es_ES |
dc.subject.ods | 08.- Fomentar el crecimiento económico sostenido, inclusivo y sostenible, el empleo pleno y productivo, y el trabajo decente para todos | es_ES |