EHU ViSens | Research Areas | Real-time position-strengh control based on elastic models for high performance applications of parallel robots. Control de posición-fuerza en tiempo real basados en modelos elásticos para aplicaciones de alto rendimiento de los robots paralelos (DPI2012-32882)

The Project

Real flexible Delta Robot prototype
Dynamic simulation of a Delta Robot with Flexible links
Mechanical design prototype 3PRS
Reduced kinematic modelling
Implementation framework

Project Publications

Inclusive and seamless control framework for safe robot-mediated therapy for upper limbs rehabilitation

Publication Data

Mancisidor, A., Zubizarreta, A., Cabanes, I., Bengoa, P., Brull, A., Hyung, J. Inclusive and seamless control framework for safe robot-mediated therapy for upper limbs rehabilitation, Mechatronics, vol. 58, pp. 70-79, 2019. JCR Impact Factor: 2.978 (2019). Quartile: Q1. https://doi.org/10.1016/j.mechatronics.2019.02.002
Algoritmo de Control Basado en Modelo Cinemático y Dinámico de un Dispositivo Robótico para Terapias de Rehabilitación

Publication Data

Mancisidor, A., Cabanes, I., Zubizarreta, A., Brull, A., Portillo, E. Algoritmo de Control Basado en Modelo Cinemático y Dinámico de un Dispositivo Robótico para Terapias de Rehabilitación, Jornadas Nacionales de Robótica , Alicante, España, 2019. ISBN: 978-84-09-12133-5 .
Real Time Direct Kinematic Problem Computation of the 3PRS robot Using Neural Networks

Publication Data

Zubizarreta, A., Larrea, M., Irigoyen, E., Cabanes, I., Portillo, E. Real Time Direct Kinematic Problem Computation of the 3PRS robot Using Neural Networks, Neurocomputing, vol. 271, No. 3, pp. 104-114, 2018. JCR Impact Factor: 4.072 (2018). Quartile: Q1. https://doi.org/10.1016/j.neucom.2017.02.098
Análisis de la postura del tronco en terapias de rehabilitación mediante robots

Publication Data

Mancisidor, A., Brull, A., Zubizarreta, A., Cabanes, I., Portillo, E., Rodriguez, A. Análisis de la postura del tronco en terapias de rehabilitación mediante robots, XXXIX Jornadas de Automática , Badajoz, España, 2018. ISBN: 978-84-09-04460-3. https://doi.org/10.17979/spudc.9788497497565.0001
Pre-clinical validation of the UHP multifunctional upper-limb rehabilitation robot based

Publication Data

Mancisidor, A., Zubizarreta, A., Cabanes, I., Brull, A., Rodriguez, A., Hyung, J. Pre-clinical validation of the UHP multifunctional upper-limb rehabilitation robot based , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, España, 2018. ISBN: 978-1-5386-8093-3. CORE A. https://doi.org/10.1109/IROS.2018.8593527

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Real-time position-strengh control based on elastic models for high performance applications of parallel robots. Control de posición-fuerza en tiempo real basados en modelos elásticos para aplicaciones de alto rendimiento de los robots paralelos (DPI2012-32882)

Lead Researchers: Itziar Cabanes Axpe - (01/01/2013 - 31/12/2016)

Research Area: Collaborative and intelligent Robotics

Funding Body: Spanish Ministry of Economy and Competitiviness

Objectives

Parallel robots have proven to be the best alternative for dynamic high performance applications in which we need to manipulate powerful changes, apply controlled forces efficiently or move objects at high speed. For this, we require a correct mechanical design as well as an adequate controller that can be executed on real-time. Thus, the aim of the project is to develop specific control techniques for parallel robots in high dynamic performance applications.

Achievements

This project is currently ongoing. Achievements so far are:

Extension of the dynamic modelling methodology (established during the previous project with Reference number: DPI2009-07669) in order to methodologically obtain the dynamic model that considers the elasticity of the elements of a parallel robot as compact, structured and manageable. This allows us to determine the deformations suffered by elements of the robots in those high dynamic performance applications.
Reduction of the computational cost of the dynamic model with neural networks, so that it can be implemented in a real-time control loop.
New control strategies based on non-lineal decoupling and robust techniques, specific for parallel robots in high dynamic performance applications.
Construction of the prototype 3PRS, where we will validate, along with the Delta Robot, the elastodynamic models obtained and we will implement the control strategies that are appropriate for the application of the high dynamic performance defined.

Acknowledgements

Spanish Ministry of Economy and Competitiveness (MINECO) & FEDER

Software

Ongoing development

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