Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives

[EN] This article addresses a new way of generating compliant trajectories for control using movement primitives to allow physical human-robot interaction where parallel robots (PRs) are involved. PRs are suitable for tasks requiring precision and performance because of their robust behavior. Howeve...

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Autores: Escarabajal-Sánchez, Rafael José, Pulloquinga-Zapata, José, Castillo-García, Fernando J., Valera Fernández, Ángel|||0000-0001-6843-6394, Mata Amela, Vicente|||0000-0003-2255-0567, Vallés Miquel, Marina|||0000-0002-6396-0098
Tipo de recurso: artículo
Fecha de publicación:2023
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:10251/200923
Acceso en línea:https://riunet.upv.es/handle/10251/200923
Access Level:acceso abierto
Palabra clave:Dynamic movement primitives (DMPs)
Force control
Parallel robot (PR)
Rehabilitation robotics
Singularity avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
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oai_identifier_str oai:riunet.upv.es:10251/200923
network_acronym_str ES
network_name_str España
repository_id_str
spelling Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement PrimitivesEscarabajal-Sánchez, Rafael JoséPulloquinga-Zapata, JoséCastillo-García, Fernando J.Valera Fernández, Ángel|||0000-0001-6843-6394Mata Amela, Vicente|||0000-0003-2255-0567Vallés Miquel, Marina|||0000-0002-6396-0098Dynamic movement primitives (DMPs)Force controlParallel robot (PR)Rehabilitation roboticsSingularity avoidanceINGENIERIA DE SISTEMAS Y AUTOMATICAINGENIERIA MECANICA[EN] This article addresses a new way of generating compliant trajectories for control using movement primitives to allow physical human-robot interaction where parallel robots (PRs) are involved. PRs are suitable for tasks requiring precision and performance because of their robust behavior. However, two fundamental issues must be resolved to ensure safe operation: first, the force exerted on the human must be controlled and limited, and second, Type II singularities should be avoided to keep complete control of the robot. We offer a unified solution under the dynamic movement primitives (DMP) framework to tackle both tasks simultaneously. DMPs are used to get an abstract representation for movement generation and are involved in broad areas, such as imitation learning and movement recognition. For force control, we design an admittance controller intrinsically defined within the DMP structure, and subsequently, the Type II singularity evasion layer is added to the system. Both the admittance controller and the evader exploit the dynamic behavior of the DMP and its properties related to invariance and temporal coupling, and the whole system is deployed in a real PR meant for knee rehabilitation. The results show the capability of the system to perform safe rehabilitation exercises.This work was supported in part by the Fondo Europeo de Desarrollo Regional under Grant PID2021-125694OB-I00, in part by the Vicerrectorado de Investigacion de la Universitat Politecnica de Valencia under Grant PAID-11-21, and in part by the Ministerio de Universidades, Gobierno de Espana under Grant FPU18/05105.Institute of Electrical and Electronics EngineersDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialDepartamento de Ingeniería Mecánica y de MaterialesInstituto Universitario de Automática e Informática IndustrialInstituto Universitario de Investigación Concertado de Ingeniería Mecánica y BiomecánicaEscuela Técnica Superior de Ingeniería IndustrialEscuela Técnica Superior de Ingeniería InformáticaAGENCIA ESTATAL DE INVESTIGACIONMINISTERIO DE CIENCIA E INNOVACIONUNIVERSIDAD POLITECNICA DE VALENCIARepositorio Institucional de la Universitat Politècnica de València Riunet20232023-06-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/200923reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Universidades MIU FPU18%2F05105 DESARROLLO Y CONTROL DE ROBOTS PARALELOS RECONFIGURABLES PARA LA REHABILITACIÓN DE MIEMBRO INFERIOR DE PERSONASAgencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023 PID2021-125694OB-I00 SISTEMA ROBOTICO PARALELO CON CONTROL BASADO EN MODELO MUSCULO-ESQUELETICO PARA LA MONITORIZACION Y ENTRENAMIENTO DEL SISTEMA PROPIOCEPTIVOUniversitat Politècnica de València https://doi.org/10.13039/501100004233 Programas de Apoyo a la I+D+i PAID-11-21 Parallel rehabilitation robots: detection and control of singularities in the presence of manufacturing errorsopen accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/2009232026-06-13T07:49:27Z
dc.title.none.fl_str_mv Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
title Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
spellingShingle Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
Escarabajal-Sánchez, Rafael José
Dynamic movement primitives (DMPs)
Force control
Parallel robot (PR)
Rehabilitation robotics
Singularity avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
title_short Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
title_full Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
title_fullStr Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
title_full_unstemmed Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
title_sort Combined Admittance Control With Type II Singularity Evasion for Parallel Robots Using Dynamic Movement Primitives
dc.creator.none.fl_str_mv Escarabajal-Sánchez, Rafael José
Pulloquinga-Zapata, José
Castillo-García, Fernando J.
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Vallés Miquel, Marina|||0000-0002-6396-0098
author Escarabajal-Sánchez, Rafael José
author_facet Escarabajal-Sánchez, Rafael José
Pulloquinga-Zapata, José
Castillo-García, Fernando J.
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Vallés Miquel, Marina|||0000-0002-6396-0098
author_role author
author2 Pulloquinga-Zapata, José
Castillo-García, Fernando J.
Valera Fernández, Ángel|||0000-0001-6843-6394
Mata Amela, Vicente|||0000-0003-2255-0567
Vallés Miquel, Marina|||0000-0002-6396-0098
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Departamento de Ingeniería Mecánica y de Materiales
Instituto Universitario de Automática e Informática Industrial
Instituto Universitario de Investigación Concertado de Ingeniería Mecánica y Biomecánica
Escuela Técnica Superior de Ingeniería Industrial
Escuela Técnica Superior de Ingeniería Informática
AGENCIA ESTATAL DE INVESTIGACION
MINISTERIO DE CIENCIA E INNOVACION
UNIVERSIDAD POLITECNICA DE VALENCIA
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Dynamic movement primitives (DMPs)
Force control
Parallel robot (PR)
Rehabilitation robotics
Singularity avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
topic Dynamic movement primitives (DMPs)
Force control
Parallel robot (PR)
Rehabilitation robotics
Singularity avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
INGENIERIA MECANICA
description [EN] This article addresses a new way of generating compliant trajectories for control using movement primitives to allow physical human-robot interaction where parallel robots (PRs) are involved. PRs are suitable for tasks requiring precision and performance because of their robust behavior. However, two fundamental issues must be resolved to ensure safe operation: first, the force exerted on the human must be controlled and limited, and second, Type II singularities should be avoided to keep complete control of the robot. We offer a unified solution under the dynamic movement primitives (DMP) framework to tackle both tasks simultaneously. DMPs are used to get an abstract representation for movement generation and are involved in broad areas, such as imitation learning and movement recognition. For force control, we design an admittance controller intrinsically defined within the DMP structure, and subsequently, the Type II singularity evasion layer is added to the system. Both the admittance controller and the evader exploit the dynamic behavior of the DMP and its properties related to invariance and temporal coupling, and the whole system is deployed in a real PR meant for knee rehabilitation. The results show the capability of the system to perform safe rehabilitation exercises.
publishDate 2023
dc.date.none.fl_str_mv 2023
2023-06-01
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/10251/200923
url https://riunet.upv.es/handle/10251/200923
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Universidades MIU FPU18%2F05105 DESARROLLO Y CONTROL DE ROBOTS PARALELOS RECONFIGURABLES PARA LA REHABILITACIÓN DE MIEMBRO INFERIOR DE PERSONAS
Agencia Estatal de Investigación http://dx.doi.org/10.13039/501100011033 Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023 PID2021-125694OB-I00 SISTEMA ROBOTICO PARALELO CON CONTROL BASADO EN MODELO MUSCULO-ESQUELETICO PARA LA MONITORIZACION Y ENTRENAMIENTO DEL SISTEMA PROPIOCEPTIVO
Universitat Politècnica de València https://doi.org/10.13039/501100004233 Programas de Apoyo a la I+D+i PAID-11-21 Parallel rehabilitation robots: detection and control of singularities in the presence of manufacturing errors
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
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
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
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
_version_ 1869418664797667328
score 15,300724

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