Kinematic and Workspace Analysis of a Parallel Robot Used in Security Applications

Chaparro-Altamirano, Daniel; Zavala-Yoé, Ricardo; Ramírez-Mendoza, Ricardo A.

doi:10.1109/icmeae.2013.6

Cited by 6 publications

(14 citation statements)

References 12 publications

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“…3, the workspace looks small. So, a GA optimization was included to find the biggest workspace subject to the robot's dimensions/mobility constraints [2]. It is known that the 3-SPS-1S parallel wrist is characterized by its lack of a big workspace; therefore, optimizing the parameters of the robot in order to maximize the workspace is very important.…”

Section: Classical and Ai-based Algorithms To Determine The Workpacementioning

confidence: 99%

“…The 3SPS-1S inverse kinematics problem was also solved in Ref. [2] and is given by the following expression: Upper indices imply change of frame reference by rotation matrices. They are not included here but they were well explained in Refs.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

“…For this manipulator, two kinds of algorithms were developed in Ref. [2]. The first type does not use artificial intelligence-based programs and the other one does.…”

Section: Classical and Ai-based Algorithms To Determine The Workpacementioning

confidence: 99%

“…[2] by an algorithm which checks the Jacobian matrix of the manipulator. Singularities appear at ω∈ IR, φ = ψ = 0, where IR is the set of all real numbers.…”

Section: Classical and Ai-based Algorithms To Determine The Workpacementioning

confidence: 99%

“…For sake of clarity, some results here were taken from Refs. [2,3,8,9,17]. All the algorithms were run in MATLAB/Simulink.…”

mentioning

confidence: 99%

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Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

Zavala-Yoé¹,

Ramirez‐Mendoza²,

Chaparro-Altamirano³

et al. 2015

JCSE

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Industrial metrology deals with measurements in production environment. It concerns calibration procedures as well as control of measurement processes. Measuring devices have been evolving from manual theodolites, electronic theodolites, robotic total stations, to a relatively new kind of laser-based systems known as laser trackers. Laser trackers are 3D coordinate measuring devices that accurately measure large (and relatively distant) objects by computing spatial coordinates of optical targets held against those objects. In addition, laser trackers are used to align truthfully large mechanical parts. However, such aligning can be done in moving parts, for instance during robot calibration in a welding line. In this case, serial robots are controlled in order to keep a prescribed trajectory to accomplish its task properly. Nevertheless, in spite of a good control algorithm design, as time goes by, deviations appear and a calibration process is necessary. It is well known that laser tracker systems are produced by very well established enterprises but their laser products may result expensive for some (small) industries. We offer two parallel robot-based laser tracker systems models whose implementation would result cheaper than sophisticated laser devices and takes advantage of the parallel robot bondages as accuracy and high payload. The types of parallel robots evaluated were 3-SPS-1-S and 6-PUS. Modelling of the parallel robots was done by analytical and numerical techniques. The latter includes classical and artificial intelligence-based algorithms. The control performance was evaluated between classical and intelligent controllers.

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Section: Classical and Ai-based Algorithms To Determine The Workpacementioning

confidence: 99%

Section: Inverse Kinematicsmentioning

confidence: 99%

“…For this manipulator, two kinds of algorithms were developed in Ref. [2]. The first type does not use artificial intelligence-based programs and the other one does.…”

Section: Classical and Ai-based Algorithms To Determine The Workpacementioning

confidence: 99%

“…[2] by an algorithm which checks the Jacobian matrix of the manipulator. Singularities appear at ω∈ IR, φ = ψ = 0, where IR is the set of all real numbers.…”

Section: Classical and Ai-based Algorithms To Determine The Workpacementioning

confidence: 99%

“…For sake of clarity, some results here were taken from Refs. [2,3,8,9,17]. All the algorithms were run in MATLAB/Simulink.…”

mentioning

confidence: 99%

See 3 more Smart Citations

Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

Zavala-Yoé¹,

Ramirez‐Mendoza²,

Chaparro-Altamirano³

et al. 2015

JCSE

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An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control

Toedtheide

Kühn

Fortunic

et al. 2021

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

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CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists

Toedtheide

Haddadin

2018

IEEE Robot. Autom. Lett.

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Kinematic and Workspace Analysis of a Parallel Robot Used in Security Applications

Cited by 6 publications

References 12 publications

Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

Analytical/Numerical Modelling of Two Parallel Robots as Laser Calibration Instruments Controlled by Classical/Intelligent Schemes

An Integrated, Force-Sensitive, Impedance Controlled, Tendon-Driven Wrist: Design, Modeling, and Control

CPA-Wrist: Compliant Pneumatic Actuation for Antagonistic Tendon Driven Wrists

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