Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

<p>This paper presents a methodology to evaluate transversal competences in the context of the subject “Design and application of industrial equipment” in the Master's Degree in Industrial Engineering at Universitat Politècnica de València (Spain). The competency-based education implies several activities, such as a project-based learning that must be eventually defended in public by students in groups. Evidence of learning is collected based on a well-defined system of rubrics and indicators, which are known in advance by students. We have observed that the use of such techniques improves the students learning on the contents of the subject, allows to acquire the transversal competences related to the analysis and problem solving, and enhances the ability to understand concepts intuitively. Moreover, results clearly show a positive influence on the use of such tools for improving the professional and ethical commitment to the issues raised.</p>

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“… Grade between 0.00 and 0.99: Not reached (D) 2018;2020a;Rubio et al, 2015;2016;and Valero et al, 2017;…”

Section: Number Of Acts Weight (%)mentioning

confidence: 99%

Methodology to evaluate transversal competences in the master's degree in industrial engineering based on a system of rubrics and indicators

Llopis-Albert

Rubio

2021

Mult.J.Edu.Soc.Tec.Sci.

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“…Introduction to modeling in kinematics and machine dynamics. This subject is taught by professors Rubio and Llopis-Albert, which have an extensive experience in this field, as shown for instance in Llopis-Albert et al, 2015;2018;2020a;Rubio et al, 2015;2016;and Valero et al, 2017; As stated, the CT-03 is implemented using technical computing systems, while it provides a way to develop students' engineering capabilities. The software used to work this transversal competence is Wolfram Mathematica, which is a technical computing system; and SolidWorks, which is a solid modeling computer-aided design (CAD) and computer-aided engineering (CAE) computer program.…”

Section: Evaluation Systems Of Ctmentioning

confidence: 99%

Use of technical computing systems in the context of engineering problems

Llopis-Albert

Rubio

Valle-Falcones

et al. 2020

Mult.J.Edu.Soc.Tec.Sci.

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<p>This paper presents a teaching innovation project based on applying technical computing systems as a resource to improve learning in the classroom and as a way of evaluating transversal competences (TC). By these means, students analyze complex kinematic and dynamic mechanical systems in the context of the subject Dynamics of Mechanical Systems of the Master’s Degree in Mechatronics Engineering at Universitat Politècnica de València (Spain). We have observed that the use of such tools improves the students learning on the contents of the subject, allows to acquire the transversal competence related to the analysis and problem solving, and enhances the ability to understand concepts intuitively. Furthermore, results clearly show a positive influence on the use of such tools for improving the professional and ethical commitment to the issues raised.</p>

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“…Another technique relies on minimizing the energy consumed and the torque rather than the jerk or trajectory time [7]. With robotics advances, trajectory planning covers more complex environments, for example, uncertainties [8], multiple robots [9], the dynamics of the system [10][11][12], optimal reconfiguration of a robot for forward singularities avoidance [13,14] and fuzzy control [15]. Furthermore, fuzzy control has been gaining attention in recent years [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Modelling an Industrial Robot and Its Impact on Productivity

2021

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This research aims to design an efficient algorithm leading to an improvement of productivity by posing a multi-objective optimization, in which both the time consumed to carry out scheduled tasks and the associated costs of the autonomous industrial system are minimized. The algorithm proposed models the kinematics and dynamics of the industrial robot, provides collision-free trajectories, allows to constrain the energy consumed and meets the physical characteristics of the robot (i.e., restriction on torque, jerks and power in all driving motors). Additionally, the trajectory tracking accuracy is improved using an adaptive fuzzy sliding mode control (AFSMC), which allows compensating for parametric uncertainties, bounded external disturbances and constraint uncertainties. Therefore, the system stability and robustness are enhanced; thus, overcoming some of the limitations of the traditional proportional-integral-derivative (PID) controllers. The trade-offs among the economic issues related to the assembly line and the optimal time trajectory of the desired motion are analyzed using Pareto fronts. The technique is tested in different examples for a six-degrees-of-freedom (DOF) robot system. Results have proved how the use of this methodology enhances the performance and reliability of assembly lines.

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Optimal Reconfiguration of a Limited Parallel Robot for Forward Singularities Avoidance

Cited by 5 publications

References 16 publications

Methodology to evaluate transversal competences in the master's degree in industrial engineering based on a system of rubrics and indicators

Methodology to evaluate transversal competences in the master's degree in industrial engineering based on a system of rubrics and indicators

Use of technical computing systems in the context of engineering problems

Modelling an Industrial Robot and Its Impact on Productivity

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