Kinematic Estimator for Flexible Links in Parallel Robots

Pablo Bengoa; Asier Zubizarreta; Itziar Cabanes; Aitziber Mancisidor; Charles Pinto

doi:10.1007/978-3-319-70836-2_58

Kinematic Estimator for Flexible Links in Parallel Robots

Pablo Bengoa
, Asier Zubizarreta^*
, Itziar Cabanes
, Aitziber Mancisidor
, Charles Pinto

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

Control of flexible link parallel manipulators is still an open area of research. The flexibility and deformations of the limbs make the estimation of the Tool Center Point (TCP) position a non-trivial area, being one of the main challenges on this type of robots. In the literature different approaches to estimate this deformation and determine the location of the TCP have been proposed. However, most of these approaches require the use of high computational cost integration methods or expensive measurement systems. This work presents a novel approach which can not only estimate precisely the deformation of the flexible links (less than 3% error), but also its derivatives (less than 4% error). The validity of the developed estimator is tested in a Delta Robot, resulting in less than 0.025% error in the estimation of the TCP position in comparison with the results obtained with ADAMS Multibody software.

Original language	English
Title of host publication	ROBOT 2017
Subtitle of host publication	3rd Iberian Robotics Conference
Editors	Anibal Ollero, Alberto Sanfeliu, Luis Montano, Nuno Lau, Carlos Cardeira
Publisher	Springer Verlag
Pages	704-715
Number of pages	12
ISBN (Print)	9783319708355
DOIs	https://doi.org/10.1007/978-3-319-70836-2_58
Publication status	Published - 2018
Externally published	Yes
Event	3rd Iberian Robotics Conference, ROBOT 2017 - Seville, Spain Duration: 22 Nov 2017 → 24 Nov 2017

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	694
ISSN (Print)	2194-5357
ISSN (Electronic)	2194-5365

Conference

Conference	3rd Iberian Robotics Conference, ROBOT 2017
Country/Territory	Spain
City	Seville
Period	22/11/17 → 24/11/17

Keywords

Flexible link
Kinematic estimator
Parallel robot

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1007/978-3-319-70836-2_58

Cite this

Bengoa, P., Zubizarreta, A., Cabanes, I., Mancisidor, A., & Pinto, C. (2018). Kinematic Estimator for Flexible Links in Parallel Robots. In A. Ollero, A. Sanfeliu, L. Montano, N. Lau, & C. Cardeira (Eds.), ROBOT 2017: 3rd Iberian Robotics Conference (pp. 704-715). (Advances in Intelligent Systems and Computing; Vol. 694). Springer Verlag. https://doi.org/10.1007/978-3-319-70836-2_58

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title = "Kinematic Estimator for Flexible Links in Parallel Robots",

abstract = "Control of flexible link parallel manipulators is still an open area of research. The flexibility and deformations of the limbs make the estimation of the Tool Center Point (TCP) position a non-trivial area, being one of the main challenges on this type of robots. In the literature different approaches to estimate this deformation and determine the location of the TCP have been proposed. However, most of these approaches require the use of high computational cost integration methods or expensive measurement systems. This work presents a novel approach which can not only estimate precisely the deformation of the flexible links (less than 3\% error), but also its derivatives (less than 4\% error). The validity of the developed estimator is tested in a Delta Robot, resulting in less than 0.025\% error in the estimation of the TCP position in comparison with the results obtained with ADAMS Multibody software.",

keywords = "Flexible link, Kinematic estimator, Parallel robot",

author = "Pablo Bengoa and Asier Zubizarreta and Itziar Cabanes and Aitziber Mancisidor and Charles Pinto",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2018.; 3rd Iberian Robotics Conference, ROBOT 2017 ; Conference date: 22-11-2017 Through 24-11-2017",

year = "2018",

doi = "10.1007/978-3-319-70836-2\_58",

language = "English",

isbn = "9783319708355",

series = "Advances in Intelligent Systems and Computing",

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}

Bengoa, P, Zubizarreta, A, Cabanes, I, Mancisidor, A & Pinto, C 2018, Kinematic Estimator for Flexible Links in Parallel Robots. in A Ollero, A Sanfeliu, L Montano, N Lau & C Cardeira (eds), ROBOT 2017: 3rd Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol. 694, Springer Verlag, pp. 704-715, 3rd Iberian Robotics Conference, ROBOT 2017, Seville, Spain, 22/11/17. https://doi.org/10.1007/978-3-319-70836-2_58

Kinematic Estimator for Flexible Links in Parallel Robots. / Bengoa, Pablo; Zubizarreta, Asier; Cabanes, Itziar et al.
ROBOT 2017: 3rd Iberian Robotics Conference. ed. / Anibal Ollero; Alberto Sanfeliu; Luis Montano; Nuno Lau; Carlos Cardeira. Springer Verlag, 2018. p. 704-715 (Advances in Intelligent Systems and Computing; Vol. 694).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Kinematic Estimator for Flexible Links in Parallel Robots

AU - Bengoa, Pablo

AU - Zubizarreta, Asier

AU - Cabanes, Itziar

AU - Mancisidor, Aitziber

AU - Pinto, Charles

N1 - Publisher Copyright: © Springer International Publishing AG 2018.

PY - 2018

Y1 - 2018

N2 - Control of flexible link parallel manipulators is still an open area of research. The flexibility and deformations of the limbs make the estimation of the Tool Center Point (TCP) position a non-trivial area, being one of the main challenges on this type of robots. In the literature different approaches to estimate this deformation and determine the location of the TCP have been proposed. However, most of these approaches require the use of high computational cost integration methods or expensive measurement systems. This work presents a novel approach which can not only estimate precisely the deformation of the flexible links (less than 3% error), but also its derivatives (less than 4% error). The validity of the developed estimator is tested in a Delta Robot, resulting in less than 0.025% error in the estimation of the TCP position in comparison with the results obtained with ADAMS Multibody software.

AB - Control of flexible link parallel manipulators is still an open area of research. The flexibility and deformations of the limbs make the estimation of the Tool Center Point (TCP) position a non-trivial area, being one of the main challenges on this type of robots. In the literature different approaches to estimate this deformation and determine the location of the TCP have been proposed. However, most of these approaches require the use of high computational cost integration methods or expensive measurement systems. This work presents a novel approach which can not only estimate precisely the deformation of the flexible links (less than 3% error), but also its derivatives (less than 4% error). The validity of the developed estimator is tested in a Delta Robot, resulting in less than 0.025% error in the estimation of the TCP position in comparison with the results obtained with ADAMS Multibody software.

KW - Flexible link

KW - Kinematic estimator

KW - Parallel robot

UR - https://www.scopus.com/pages/publications/85042221808

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M3 - Conference contribution

AN - SCOPUS:85042221808

SN - 9783319708355

T3 - Advances in Intelligent Systems and Computing

SP - 704

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BT - ROBOT 2017

A2 - Ollero, Anibal

A2 - Sanfeliu, Alberto

A2 - Montano, Luis

A2 - Lau, Nuno

A2 - Cardeira, Carlos

PB - Springer Verlag

T2 - 3rd Iberian Robotics Conference, ROBOT 2017

Y2 - 22 November 2017 through 24 November 2017

ER -

Kinematic Estimator for Flexible Links in Parallel Robots

Abstract

Publication series

Conference

Keywords

UN SDGs

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