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Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

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Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

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Llopis-Albert, C.; Valero Chuliá, FJ.; Mata Amela, V.; Pulloquinga-Zapata, J.; Zamora-Ortiz, P.; Escarabajal-Sánchez, RJ. (2020). Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods. Sustainability. 12(14):1-18. https://doi.org/10.3390/su12145803

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Título: Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
Autor: Llopis-Albert, Carlos Valero Chuliá, Francisco José Mata Amela, Vicente Pulloquinga-Zapata, José Zamora-Ortiz, Pau Escarabajal-Sánchez, Rafael José
Entidad UPV: Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials
Fecha difusión:
Resumen:
[EN] This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization ...[+]
Palabras clave: Parallel robot , Rehabilitation , Reconfiguration , Optimization , Trajectory planning , Direct singularities
Derechos de uso: Reconocimiento (by)
Fuente:
Sustainability. (eissn: 2071-1050 )
DOI: 10.3390/su12145803
Editorial:
MDPI AG
Versión del editor: https://doi.org/10.3390/su12145803
Código del Proyecto:
info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-84201-R/ES/INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES/
Agradecimientos:
This research was funded by the Spanish Ministry of Education, Culture and Sports, grant number DPI2017-84201-R.
Tipo: Artículo

References

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