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Listar por autor "Díaz Rodríguez, Miguel Ángel"

Mostrando ítems 1-6 de 6

A 3-PRS parallel manipulator for ankle rehabilitation: towards a low-cost robotic rehabilitation

Vallés Miquel, Marina; Cazalilla, J.; Valera Fernández, Ángel; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe; Díaz Rodríguez, Miguel Ángel (Cambridge University Press, 2015-03-13)

This paper presents the design, kinematics, dynamics and control of a low-cost parallel rehabilitation robot developed at the Universitat Polit`ecnica de Valencia. Several position and force controllers have been tested ...
Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models

Cazalilla, J.; Vallés Miquel, Marina; Mata Amela, Vicente; Díaz Rodríguez, Miguel Ángel; Valera Fernández, Ángel (Elsevier, 2014-10)

Model-based control improves robot performance provided that the dynamics parameters are estimated accurately. However, some of the model parameters change with time, e.g. friction parameters and unknown payload. Particularly, ...
Controller-observer design and dynamic parameter identification for model-based control of an electromechanical lower-limb rehabilitation system

Valera Fernández, Ángel; Díaz-Rodríguez, Miguel; Vallés Miquel, Marina; Oliver, E.; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe (Taylor & Francis, 2017)

[EN] Rehabilitation is a hazardous task for a mechanical system, since the device has to interact with the human extremities without the hands-on experience the physiotherapist acquires over time. A gap needs to be filled ...
Hybrid force/position control for a 3-DOF 1T2R parallel robot: Implementation, simulations and experiments

Cazalilla, J.; Vallés Miquel, Marina; Valera Fernández, Ángel; Mata Amela, Vicente; Díaz-Rodríguez, Miguel (Taylor & Francis, 2016-04-02)

[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 ...
Identificación de parámetros dinámicos de robots paralelos basada en un conjunto de parámetros significativos

Díaz Rodríguez, Miguel Ángel (Universitat Politècnica de València, 2009-11-04)

Las aplicaciones industriales demandan cada vez más de una mayor precisión por lo que se debe de disponer de robots con controladores robustos basados en el conocimiento del modelo dinámico. Por otra parte, si se requieren ...
Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces

Valero Chuliá, Francisco José; Díaz-Rodríguez, Miguel; Vallés Miquel, Marina; Besa Gonzálvez, Antonio José; Bernabeu Soler, Enrique Jorge; Valera Fernández, Ángel (Elsevier, 2020-08)

[EN] This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. ...