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Identification 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: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