5 papers
Admittance Controller Complemented with Real-time Singularity Avoidance for Rehabilitation Parallel Robots
Jose L. Pulloquinga, Rafael J. Escarabajal, Marina Valles +3
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…
A Type II Singularity Avoidance Algorithm for Parallel Manipulators using Output Twist Screws
Jose L. Pulloquinga, Rafael J. Escarabajal, Angel Valera +2
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named T…
Experimental Analysis of Type II Singularities and Assembly Change Points in a 3UPS+RPU Parallel Robot
Jose L. Pulloquinga, Vicente Mata, Angel Valera +3
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 J…
Mechatronic Design, Experimental Setup and Control Architecture Design of a Novel 4 DoF Parallel Manipulator
Marina Valles, Pedro Araujo-Gomez, Vicente Mata +4
Although parallel manipulators (PMs) started with the introduction of architectures with 6 Degrees of Freedom (DoF), a vast number of applications require less than 6 DoF. Conseque…
Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces
Francisco Valero, Miguel Diaz-Rodriguez, Marina Valles +3
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 an…