4 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…
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…