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

[EN] 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...

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Autores: Llopis-Albert, Carlos|||0000-0002-1349-2716, Mata Amela, Vicente|||0000-0003-2255-0567, Valero Chuliá, Francisco José, Pulloquinga-Zapata, José, Zamora-Ortiz, Pau, Escarabajal-Sánchez, Rafael José
Tipo de recurso: artículo
Fecha de publicación:2020
País:España
Institución:Universitat Politècnica de València (UPV)
Repositorio:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglés
OAI Identifier:oai:riunet.upv.es:10251/172658
Acceso en línea:https://riunet.upv.es/handle/10251/172658
Access Level:acceso abierto
Palabra clave:Parallel robot
Rehabilitation
Reconfiguration
Optimization
Trajectory planning
Direct singularities
INGENIERIA MECANICA
INGENIERIA DE SISTEMAS Y AUTOMATICA
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spelling Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization MethodsLlopis-Albert, Carlos|||0000-0002-1349-2716Mata Amela, Vicente|||0000-0003-2255-0567Valero Chuliá, Francisco JoséPulloquinga-Zapata, JoséZamora-Ortiz, PauEscarabajal-Sánchez, Rafael JoséParallel robotRehabilitationReconfigurationOptimizationTrajectory planningDirect singularitiesINGENIERIA MECANICAINGENIERIA DE SISTEMAS Y AUTOMATICA[EN] 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 of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.This research was funded by the Spanish Ministry of Education, Culture and Sports, grant number DPI2017-84201-R.MDPI AGEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialDepartamento de Ingeniería Mecánica y de MaterialesInstituto Universitario de Investigación Concertado de Ingeniería Mecánica y BiomecánicaAgencia Estatal de InvestigaciónRepositorio Institucional de la Universitat Politècnica de València Riunet20202020-07-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfhttps://riunet.upv.es/handle/10251/172658reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 DPI2017-84201-R INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLESopen accesshttp://purl.org/coar/access_right/c_abf2Reconocimiento (by)http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/1726582026-06-13T07:49:27Z
dc.title.none.fl_str_mv Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
title Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
spellingShingle Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
Llopis-Albert, Carlos|||0000-0002-1349-2716
Parallel robot
Rehabilitation
Reconfiguration
Optimization
Trajectory planning
Direct singularities
INGENIERIA MECANICA
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
title_full Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
title_fullStr Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
title_full_unstemmed Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
title_sort Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods
dc.creator.none.fl_str_mv Llopis-Albert, Carlos|||0000-0002-1349-2716
Mata Amela, Vicente|||0000-0003-2255-0567
Valero Chuliá, Francisco José
Pulloquinga-Zapata, José
Zamora-Ortiz, Pau
Escarabajal-Sánchez, Rafael José
author Llopis-Albert, Carlos|||0000-0002-1349-2716
author_facet Llopis-Albert, Carlos|||0000-0002-1349-2716
Mata Amela, Vicente|||0000-0003-2255-0567
Valero Chuliá, Francisco José
Pulloquinga-Zapata, José
Zamora-Ortiz, Pau
Escarabajal-Sánchez, Rafael José
author_role author
author2 Mata Amela, Vicente|||0000-0003-2255-0567
Valero Chuliá, Francisco José
Pulloquinga-Zapata, José
Zamora-Ortiz, Pau
Escarabajal-Sánchez, Rafael José
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Departamento de Ingeniería Mecánica y de Materiales
Instituto Universitario de Investigación Concertado de Ingeniería Mecánica y Biomecánica
Agencia Estatal de Investigación
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Parallel robot
Rehabilitation
Reconfiguration
Optimization
Trajectory planning
Direct singularities
INGENIERIA MECANICA
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Parallel robot
Rehabilitation
Reconfiguration
Optimization
Trajectory planning
Direct singularities
INGENIERIA MECANICA
INGENIERIA DE SISTEMAS Y AUTOMATICA
description [EN] 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 of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.
publishDate 2020
dc.date.none.fl_str_mv 2020
2020-07-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/172658
url https://riunet.upv.es/handle/10251/172658
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016 DPI2017-84201-R INTEGRACION DE MODELOS BIOMECANICOS EN EL DESARROLLO Y OPERACION DE ROBOTS REHABILITADORES RECONFIGURABLES
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reconocimiento (by)
http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv MDPI AG
publisher.none.fl_str_mv MDPI AG
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,300724

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