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Experimental analysis of Type II singularities and assembly change points in a 3UPS+RPU parallel robot
ArticleAbstract: Parallel robots (PRs) have singular configurations where the robot gains at least one degree-of-freePalabras claves:Assembly modes, Parallel Robot, Screw theory, Singular configuration, Virtual powerAutores:Díaz-Rodríguez M., José L. Pulloquinga, Mata V., Valera A., Zambrano O.I., Zamora-Ortiz P.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:scopus