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Listar por palabra clave "Force control"

Mostrando ítems 1-20 de 28

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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 ...
A car-seat example of automated anthropomorphic testing of fabrics using force-controlled robot motions

Valera Fernández, Ángel; Benimeli Andreu, Francisco Javier; Solaz Sanahuja, José Salvador; De Rosario Martínez, Helios; Robertsson, Anders; Nilsson ., Klass; Zotovic Stanisic, Ranko; Mellado Arteche, Martín (Institute of Electrical and Electronics Engineers (IEEE), 2011-04)

For the last years, automation is widely used to relieve humans from repetitive tasks, primarily and firstly within manufacturing. However, for products with less ideal (or hard to model) properties, and when forces depends ...
A New Index for Detecting and Avoiding Type II Singularities for the Control of Non-Redundant Parallel Robots

Pulloquinga Zapata, José Luis (Universitat Politècnica de València, 2023-06-16)

[ES] Los robots paralelos (PR por sus siglas en inglés) son mecanismos donde el efector final está unido a la base, mediante al menos dos cadenas cinemáticas abiertas. Los PRs ofrecen una gran capacidad de carga y alta ...
Adaptive Sliding Mode Control for Robotic Surface Treatment Using Force Feedback

Gracia Calandin, Luis Ignacio; Solanes Galbis, Juan Ernesto; Muñoz-Benavent, Pau; Valls Miro, Jaime; Perez-Vidal, Carlos; Tornero Montserrat, Josep (Elsevier, 2018-06)

[EN] This work presents a hybrid position-force control of robots in order to apply surface treatments such as polishing, grinding, finishing, deburring, etc. The robot force control is designed using sliding mode concepts ...
Adjusting the parameters of the mechanical impedance for velocity, impact and force control

Zotovic Stanisic, Ranko; Valera Fernández, Ángel (Cambridge University Press (CUP), 2012-07)

This work is dedicated to the analysis of the application of active impedance control for the realisation of three objectives simultaneously: velocity regulation in free motion, impact attenuation and finally force tracking. ...
Admittance controller complemented with real-time singularity avoidance for rehabilitation parallel robots

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 ...
Automation of product packaging for industrial applications

Perez-Vidal, C.; Gracia, L.; de Paco, J.M.; Wirkus, M.; Azorin, J.M.; de Gea, J. (Taylor & Francis, 2018)

[EN] This work presents a robotic-based solution devised to automate the product packaging in industrial environments. Although the proposed approach is illustrated for the case of the shoe industry, it applies to many ...
Behavioural Study of the Force Control Loop Used in a Collaborative Robot for Sanding Materials

Pérez Ubeda, Rodrigo; Gutiérrez, S. C.; Zotovic Stanisic, Ranko; Perles, Angel (MDPI AG, 2020-12-25)

[EN] The rise of collaborative robots urges the consideration of them for different industrial tasks such as sanding. In this context, the purpose of this article is to demonstrate the feasibility of using collaborative ...
Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives

Escarabajal-Sánchez, Rafael José; Pulloquinga-Zapata, José; Valera Fernández, Ángel; Mata Amela, Vicente; Vallés Miquel, Marina; Castillo-García, Fernando J. (Institute of Electrical and Electronics Engineers, 2023-06)

[EN] This article addresses a new way of generating compliant trajectories for control using movement primitives to allow physical human-robot interaction where parallel robots (PRs) are involved. PRs are suitable for tasks ...
Control de fuerza con el brazo robot colaborativo UR3

Tomás Soro, Carlos (Universitat Politècnica de València, 2019-11-11)

[ES] El brazo robot colaborativo UR3 tiene dos formas de control de fuerza implementadas. Sin embargo, estas tienen ciertas limitaciones. El objetivo de este TFM es estudiar ambas formas y tratar de implementar otras propias ...
Control de fuerza con el brazo robot colaborativo UR3

Ferriz Beneito, José Antonio (Universitat Politècnica de València, 2018-11-14)

[ES] Este documento contiene la memoria del Trabajo Fin de Grado titulado “Control de fuerza con el brazo robot colaborativo UR3” escrito por Jose Antonio Ferriz Beneito. Los objetivos a lograr durante la realización de ...
Control de Fuerza de Robots Manipuladores Basado en Observadores Proporcionales Integrales Generalizados

Gutiérrez Giles, Alejandro; Arteaga Pérez, Marco A.; Sira Ramírez, Hebertt (Elsevier, 2016-04-06)

[EN] In this work the design of a linear observer–linear controller robust output feedback scheme is introduced for simultaneous trajectory tracking of position and force in fully actuated robot manipulators. The unknown ...
Control de posición y fuerza con estimación de masa para sistemas cooperativos

Sánchez-Sánchez, P.; Arteaga-Pérez, M. A. (Universitat Politècnica de València, 2020-09-30)

[ES] La manipulación cooperativa de un objeto por dos o más brazos robóticos requiere controlar tanto el movimiento del objeto como las fuerzas ejercidas por los manipuladores. En términos de cinemática y estática, el ...
Desarrollo de controladores modulares de posición/fuerza basados en ROS2 para robots paralelos de rehabilitación de miembro inferior

Ferrándiz Alarcón, Jesús (Universitat Politècnica de València, 2021-10-19)

[ES] Con el presente trabajo se pretende llevar a cabo el desarrollo de controladores usando una arquitectura modular basada en software libre de código abierto. Para ello en la controladora se ejecutará el sistema operativo ...
Desarrollo de interfaces para integración de la sensorización externa en la robótica colaborativa. Aplicación para visión artificial y control de fuerza

López Nácher, Francisco Javier (Universitat Politècnica de València, 2019-04-12)

[ES] El concepto de producción en los entornos industriales ha evolucionado notablemente en los últimos años, relacionado directamente con la proliferación de la robótica industrial. Concretamente, una nueva tipología de ...
Desarrollo de un Banco de Pruebas Experimental Mediante Control de Fuerza con Robot Industrial para el Análisis de la Respuesta Mecánica de Asientos de Coche

Valera Fernández, Ángel; Benimeli Andreu, Francesc Xavier; Solaz, J.; De Rosario, H.; Robertsson, A.; Nilsson, K.; Zotovic Stanisic, Ranko; Mellado Arteche, Martín (Universitat Politècnica de València, 2009-04-07)

[EN] In this work the design of an experimental test platform for analysis of the mechanical behavior of car seats during passenger ingress and egress is presented. This development has been performed in two steps: the ...
Exercise adaptation and learning for ankle rehabilitation using parallel robot

ABU DAKKA, FARES JAWAD MOH D (Universitat Politècnica de València, 2016-03-14)

[EN] This work presents a methodology for learning and adaptation of a 3-PRS parallel robot skills for ankle rehabilitation. Passive exercises have been designed to train dorsi/plantar flexion, inversion/eversion ankle ...
Experiencias en el desarrollo de una aplicación robótica con control de fuerza para taladrado de huesos

Fraile, J.C.; Pérez-Turiel, J.; González-Sánchez, J.L.; López-Cruzado, J.; Rodríguez, J.L. (Universitat Politècnica de València, 2008-04-09)

[EN] In computer assisted orthopedic surgery (CAOS), bone drilling performed during long bone fracture repair (in order to stabilize it with plates, screws, or pins) is a complex task that requires a high accuracy while ...
Force Control Improvement in Collaborative Robots through Theory Analysis and Experimental Endorsement

Pérez-Ubeda, Rodrigo; Zotovic Stanisic, Ranko; Gutiérrez, S. C. (MDPI AG, 2020-06)

[EN] Due to the elasticity of their joints, collaborative robots are seldom used in applications with force control. Besides, the industrial robot controllers are closed and do not allow the user to access the motor torques ...
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 ...