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

^*Autor correspondiente de este trabajo

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	ROBOT 2017
Subtítulo de la publicación alojada	3rd Iberian Robotics Conference
Editores	Anibal Ollero, Alberto Sanfeliu, Luis Montano, Nuno Lau, Carlos Cardeira
Editorial	Springer Verlag
Páginas	704-715
Número de páginas	12
ISBN (versión impresa)	9783319708355
DOI	https://doi.org/10.1007/978-3-319-70836-2_58
Estado	Publicada - 2018
Publicado de forma externa	Sí
Evento	3rd Iberian Robotics Conference, ROBOT 2017 - Seville, Espana Duración: 22 nov 2017 → 24 nov 2017

Serie de la publicación

Nombre	Advances in Intelligent Systems and Computing
Volumen	694
ISSN (versión impresa)	2194-5357
ISSN (versión digital)	2194-5365

Conferencia

Conferencia	3rd Iberian Robotics Conference, ROBOT 2017
País/Territorio	Espana
Ciudad	Seville
Período	22/11/17 → 24/11/17

ODS de las Naciones Unidas

Este resultado contribuye a los siguientes Objetivos de Desarrollo Sostenible

ODS 9: Industria, innovación e infraestructura

Acceder al documento

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

Otros archivos y enlaces

Enlace a la publicación en Scopus

Citar esto

Bengoa, P., Zubizarreta, A., Cabanes, I., Mancisidor, A., & Pinto, C. (2018). Kinematic Estimator for Flexible Links in Parallel Robots. En 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

@inproceedings{7aa9488fa0154b1085fa4c7683a74373,

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",

publisher = "Springer Verlag",

pages = "704--715",

editor = "Anibal Ollero and Alberto Sanfeliu and Luis Montano and Nuno Lau and Carlos Cardeira",

booktitle = "ROBOT 2017",

address = "Germany",

}

Bengoa, P, Zubizarreta, A, Cabanes, I, Mancisidor, A & Pinto, C 2018, Kinematic Estimator for Flexible Links in Parallel Robots. En 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, Espana, 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).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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

U2 - 10.1007/978-3-319-70836-2_58

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

M3 - Conference contribution

AN - SCOPUS:85042221808

SN - 9783319708355

T3 - Advances in Intelligent Systems and Computing

SP - 704

EP - 715

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

Resumen

Serie de la publicación

Conferencia

ODS de las Naciones Unidas

Acceder al documento

Otros archivos y enlaces

Huella

Citar esto