Pulloquinga-Zapata, José Luis; Escarabajal-Sánchez, Rafael José; Vallés Miquel, Marina; Díaz-Rodríguez, Miguel; Mata Amela, Vicente; Valera Fernández, Ángel(Elsevier, 2023-10)
[EN] Rehabilitation tasks demand robust and accurate trajectory-tracking performance, mainly achieved with parallel robots. In this field, limiting the value of the force exerted on the patient is crucial, especially when ...
[EN] Parallel robots (PRs) have singular configurations where the robot gains at least one degree-of-freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-Matrix determinant becomes ...
Guzmán-Giménez, José; Valera Fernández, Ángel; Mata Amela, Vicente; Díaz-Rodríguez, Miguel Ángel(MDPI AG, 2020-02)
[EN] One of the most important elements of a robot's control system is its Inverse Kinematic Model (IKM), which calculates the position and velocity references required by the robot's actuators to follow a trajectory. The ...