Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs...

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Bibliographic Details
Main Authors: Carlos Llopis-Albert, Francisco Valero, Vicente Mata, José L. Pulloquinga, Pau Zamora-Ortiz, Rafael J. Escarabajal
Format: Article
Language:English
Published: MDPI AG 2020-07-01
Series:Sustainability
Subjects:
parallel robot
rehabilitation
reconfiguration
optimization
trajectory planning
direct singularities
Online Access:https://www.mdpi.com/2071-1050/12/14/5803

Internet

https://www.mdpi.com/2071-1050/12/14/5803

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