ArticleSensors (Basel, Switzerland)2021
Vision-Based Hybrid Controller to Release a 4-DOF Parallel Robot from a Type II Singularity.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 4 papers.
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Who cites it
4 citing papers in PubMed.
- Estimation of the equivalent external force using a musculoskeletal model with muscle coactivation.Medical & biological engineering & computing · 2025Article
- Depth-Dependent Control in Vision-Sensor Space for Reconfigurable Parallel Manipulators.Sensors (Basel, Switzerland) · 2023Article
- Using a Development Platform with an STM32 Processor to Prototype an Inexpensive 4-DoF Delta Parallel Robot.Sensors (Basel, Switzerland) · 2021Article
- Editorial of Special Issue "Combining Sensors and Multibody Models for Applications in Vehicles, Machines, Robots and Humans".Sensors (Basel, Switzerland) · 2021Article
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Authors and funding
6 authors.
Funding
Abstract
The high accuracy and dynamic performance of parallel robots (PRs) make them suitable to ensure safe operation in human-robot interaction. However, these advantages come at the expense of a reduced workspace and the possible appearance of type II singularities. The latter is due to the loss of control of the PR and requires further analysis to keep the stiffness of the PR even after a singular configuration is reached. All or a subset of the limbs could be responsible for a type II singularity, and they can be detected by using the angle between two output twist screws (OTSs). However, this angle has not been applied in control because it requires an accurate measure of the pose of the PR. This paper proposes a new hybrid controller to release a 4-DOF PR from a type II singularity based on a real time vision system. The vision system data are used to automatically readapt the configuration of the PR by moving the limbs identified by the angle between two OTSs. This controller is intended for a knee rehabilitation PR, and the results show how this release is accomplished with smooth controlled movements where the patient's safety is not compromised.
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Registered trials
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