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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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dc.contributor.author Llopis-Albert, Carlos es_ES
dc.contributor.author Valero Chuliá, Francisco José es_ES
dc.contributor.author Mata Amela, Vicente es_ES
dc.contributor.author Pulloquinga-Zapata, José es_ES
dc.contributor.author Zamora-Ortiz, Pau es_ES
dc.contributor.author Escarabajal-Sánchez, Rafael José es_ES
dc.date.accessioned 2021-09-17T03:30:57Z
dc.date.available 2021-09-17T03:30:57Z
dc.date.issued 2020-07 es_ES
dc.identifier.uri http://hdl.handle.net/10251/172658
dc.description.abstract [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 problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories. es_ES
dc.description.sponsorship This research was funded by the Spanish Ministry of Education, Culture and Sports, grant number DPI2017-84201-R. es_ES
dc.language Inglés es_ES
dc.publisher MDPI AG es_ES
dc.relation.ispartof Sustainability es_ES
dc.rights Reconocimiento (by) es_ES
dc.subject Parallel robot es_ES
dc.subject Rehabilitation es_ES
dc.subject Reconfiguration es_ES
dc.subject Optimization es_ES
dc.subject Trajectory planning es_ES
dc.subject Direct singularities es_ES
dc.subject.classification INGENIERIA MECANICA es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.3390/su12145803 es_ES
dc.relation.projectID 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/ es_ES
dc.rights.accessRights Abierto 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.description.bibliographicCitation 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 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.3390/su12145803 es_ES
dc.description.upvformatpinicio 1 es_ES
dc.description.upvformatpfin 18 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 12 es_ES
dc.description.issue 14 es_ES
dc.identifier.eissn 2071-1050 es_ES
dc.relation.pasarela S\415902 es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES
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