Browsing by Author "Rodelo M."

Now showing 1 - 2 of 2

Kinematic Analysis and Performance of a Planar 3RRR Parallel Robot with Kinematic Redundancy using Screw Theory
(Institute of Electrical and Electronics Engineers Inc., 2018) Rodelo M.; Villa Ramírez, José Luis; Duque Pardo, Jorge Eliécer; Yime E.; Garcia L.; Wightman P.; Percybrooks W.; Carrillo H.; Quintero C.
In this paper, a complete kinematic analysis of a planar 3-RRR parallel robot is presented. The position through the direct and inverse kinematics, velocities, jacobians and accelerations were developed using Screw Theory. Likewise, the workspace and singularities analysis is performed to find the smallest set of active joints for which the planar 3-RRR parallel robot remains equilibrated with respect to dexterous workspace, when failure occurs for one arbitrary active joint in a safe region. In order to accomplish this, sensitivity analysis for a classic trajectory and performance indexes for redundant planar 3-RRR parallel robot were obtained and compared with the same generation of non-redundant one, to validate the dexterity and manipulability of the mechanism. The simulation results show the maps of the dexterous workspace which the End-Effector can reach when there is redundant or non-redundant kinematics in the robot. © 2018 IEEE.
Robust adaptive control of a planar 3RRR parallel robot for trajectory-tracking applied to crouch gait cycle in children with cerebral palsy
(Institute of Electrical and Electronics Engineers Inc., 2019) Rodelo M.; Polo S.; Duque Pardo, Jorge Eliécer; Villa Ramírez, José Luis; Yime E.; Garcia-Tirado J.; Munoz-Durango D.; Alvarez H.; Botero-Castro H.
This paper presents the modelling, control and simulation of a 3RRR planar parallel robot, using a robust adaptive control strategy. The objective of this work is to achieve the control over desired trajectory-tracking of the joint pattern with the end-effector of robot, considering the disturbances during the crouch gait activity in children with cerebral palsy. The kinematic analysis is based on the screw theory. A dynamical modelling by Virtual Work formulation approach is developed. The performance of the robust adaptive control law is developed using Lyapunov's Direct Method and Barbalat's lemma. Furthermore, the controller is evaluated in Matlab/Simulink simulation environment with the physic model simulated through Simscape Multibody. The angular position errors, velocity errors and output torques for each motor are calculated. Simulation results show that the proposed controller has good efficiency with stable response of the robot in performing trajectory-tracking. © 2019 IEEE.