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cs.RO2024
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…
cs.RO2024
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…