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Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
ArticleAbstract: This article addresses a new way of generating compliant trajectories for control using movement priPalabras claves:Behavioral sciences, Couplings, Damping, Dynamic movement primitives (DMPs), Force, force control, parallel robot (PR), rehabilitation robotics, Singularity avoidance, Standards, Task analysis, TrajectoryAutores:Castillo-Garcia F.J., Escarabajal R.J., José L. Pulloquinga, Mata V., Valera A., Valles M.Fuentes:scopusA Type II singularity avoidance algorithm for parallel manipulators using output twist screws
ArticleAbstract: Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracyPalabras claves:Output twist screws, Parallel robots, Singularity avoidance, Trajectory planningAutores:Escarabajal R.J., José L. Pulloquinga, Mata V., Valera A., Valles M.Fuentes:scopusOptimal reconfiguration of a parallel robot for forward singularities avoidance in rehabilitation therapies. A comparison via different optimization methods
ArticleAbstract: This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulatPalabras claves:Direct singularities, Optimization, Parallel Robot, reconfiguration, Rehabilitation, Trajectory planningAutores:Escarabajal R.J., José L. Pulloquinga, Llopis-Albert C., Mata V., Valero F., Zamora-Ortiz P.Fuentes:scopusIdentification of inertial parameters for position and force control of surgical assistance robots
ArticleAbstract: Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device hasPalabras claves:Assistance robot, Force sensor, Inertial parameters, Parameter Identification, Robot Control, Surgery robotAutores:Carral-Alvaro J., Escarabajal R.J., José L. Pulloquinga, Mata V., Valera A., Zamora-Ortiz P.Fuentes:scopusModel-Based Control of a 4-DOF Rehabilitation Parallel Robot with Online Identification of the Gravitational Term
ArticleAbstract: Parallel robots are being increasingly used as a fundamental component of lower-limb rehabilitationPalabras claves:adaptive control, dynamic parameter identification, Parallel Robot, relevant parametersAutores:Díaz-Rodríguez M., Escarabajal R.J., José L. Pulloquinga, Mata V., Valera A.Fuentes:scopusTrajectory Planner for Type II Singularities Avoidance Based on Output Twist Screws
Conference ObjectAbstract: Motion planning of manipulators is a major discipline in robotics that involves the generation of fePalabras claves:Autores:Escarabajal R.J., José L. Pulloquinga, Mata V., Valera A., Valles M.Fuentes:scopusVision-based hybrid controller to release a 4-dof parallel robot from a type ii singularity
ArticleAbstract: The high accuracy and dynamic performance of parallel robots (PRs) make them suitable to ensure safePalabras claves:3D tracking, Motion control, Parallel Robot, Screw theory, Singular configurationAutores:Escarabajal R.J., Ferrándiz J., José L. Pulloquinga, Mata V., Urízar M., Valles M.Fuentes:scopus