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Mechatronic development and dynamic control of a 3-DOF parallel manipulator

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Mechatronic development and dynamic control of a 3-DOF parallel manipulator

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dc.contributor.author Vallés Miquel, Marina es_ES
dc.contributor.author Díaz-Rodríguez, Miguel es_ES
dc.contributor.author Valera Fernández, Ángel es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Page Del Pozo, Alvaro Felipe es_ES
dc.date.accessioned 2013-12-10T08:41:29Z
dc.date.issued 2012-09
dc.identifier.issn 1539-7734
dc.identifier.uri http://hdl.handle.net/10251/34388
dc.description This is an Author's Accepted Manuscript of an article published in Mechanics Based Design of Structures and Machines: An International Journal, 40:4, 434-452 [September 2012] [copyright Taylor & Francis], available online at: http://www.tandfonline.com/10.1080/15397734.2012.687292 es_ES
dc.description.abstract The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion (heave) and two rotary motions (rolling and pitching). Applications for this kind of parallel manipulator can be found at least in driving-motion simulation and in the biomechanical field. An open control architecture has been developed for this manipulator, which allows implementing and testing different dynamic control schemes for a PM with 3-DOF. Thus, the robot developed can be used as a test bench where control schemes can be tested. In this article, several control schemes are proposed and the tracking control responses are compared. The schemes considered are based on passivity-based control and inverse dynamic control. The control algorithm considers point-to-point control or tracking control. When the controller considers the system dynamics, an identified model has been used. The control schemes have been tested on a virtual robot and on the actual prototype. © 2012 Taylor & Francis Group, LLC. es_ES
dc.description.sponsorship The authors wish to express their gratitude to the Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) for the partial financing of this study under the projects DPI2009-13830-C02-01 and DPI2010-20814-C02-(01, 02). This work was also supported in part by the CDCHT-ULA Grant I-1286-11-02-B. en_EN
dc.format.extent 19 es_ES
dc.language Inglés es_ES
dc.publisher Taylor & Francis es_ES
dc.relation Plan Nacional de I+D, Comision Interministerial de Ciencia y Tecnologia (FEDER-CICYT) [DPI2009-13830-C02-01, DPI2010-20814-C02-(01, 02] es_ES
dc.relation CDCHT-ULA [I-1286-11-02-B] es_ES
dc.relation.ispartof Mechanics Based Design of Structures and Machines: An International Journal es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Dynamics es_ES
dc.subject Kinematics es_ES
dc.subject Mechatronics es_ES
dc.subject Parallel manipulator es_ES
dc.subject Robot control es_ES
dc.subject.classification FISICA APLICADA es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.title Mechatronic development and dynamic control of a 3-DOF parallel manipulator es_ES
dc.type Artículo es_ES
dc.embargo.lift 10000-01-01
dc.embargo.terms forever es_ES
dc.identifier.doi 10.1080/15397734.2012.687292
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.contributor.affiliation Universitat Politècnica de València. Departamento de Física Aplicada - Departament de Física Aplicada es_ES
dc.contributor.affiliation Universitat Politècnica de València. Instituto Universitario de Automática e Informática Industrial - Institut Universitari d'Automàtica i Informàtica Industrial es_ES
dc.contributor.affiliation Universitat Politècnica de València. Centro de Investigación en Tecnología de Vehículos - Centre d'Investigació en Tecnologia de Vehicles es_ES
dc.description.bibliographicCitation Vallés Miquel, M.; Díaz-Rodríguez, M.; Valera Fernández, Á.; Mata Amela, V.; Page Del Pozo, ÁF. (2012). Mechatronic development and dynamic control of a 3-DOF parallel manipulator. Mechanics Based Design of Structures and Machines: An International Journal. 40(4):434-452. doi:10.1080/15397734.2012.687292 es_ES
dc.description.accrualMethod Senia es_ES
dc.relation.publisherversion http://dx.doi.org/10.1080/15397734.2012.687292 es_ES
dc.description.upvformatpinicio 434 es_ES
dc.description.upvformatpfin 452 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 40 es_ES
dc.description.issue 4 es_ES
dc.relation.senia 230794


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