Robust Adaptive Control of a Planar 3RRR Parallel Robot for Trajectory-Tracking Applied to Crouch Gait Cycle in Children with Cerebral Palsy

Rodelo, M.; Polo, S.; Duque, J.; Villa, J.L.; Yime, Eugenio

doi:10.1109/ccac.2019.8921328

Cited by 2 publications

(5 citation statements)

References 15 publications

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“…This means that the similarity law of planar 3RRR robots reduces the number of singularities obtained in kinematic models. Most models use P, Q, and R as active joints [3][4][5][6][7][8][9][10][11][12], which is the major difference from this kinematic model, which has active joints in P, D, and A. This complexity in kinematic models leads to the use of polynomial equations of degree eight for their solution.…”

Section: Discussionmentioning

confidence: 99%

“…P, Q, R Transformation matrix Geometry Method [9] P, Q, R Geometry Method Geometry Method [10] P, Q, R N/A Geometry Method [11] P, Q, R Numeric Method Geometry Method [12] P, Q, R N/A Geometry Method [22] All Joints Geometry Method N/A Among the referenced literature, it is observed that most articles base their analyses under the assumption that the active joints are all placed at the kinematic chain bases in P, Q, and R in Figure 2. The only exception is [22], which studies two additional configurations but limits its analysis to the singularities.…”

Section: Referencesmentioning

confidence: 99%

“…This study focuses on the 3RRR symmetric planar robot shown in Figure 2. Existing literature models [3][4][5][6][7][8][9][10][11][12] position active joints at the base joints, i.e., P, Q, and R, whereas passive joints are at points A, B, C, D, E, and F. This study proposes a mathematical model of a planar parallel robot where the active joints are rather located at joints P, D, and A, all of which belong to a single kinematic chain. The kinematic models derived in this work are then compared and contrasted to the conventional models in Table 1, and a discussion of the advantages of our derived models is provided.…”

Section: Rrr Symmetric Planar Robot Active Jointsmentioning

confidence: 99%

“…These models must facilitate the engineer's decision making and design the action-planning process. However, traditional modeling approaches for 3RRR parallel planar robots [3][4][5][6][7][8][9][10][11][12] do not provide simple models for robot configurations with active joints that are all placed within one single kinematic chain. The traditional models with the active joints located at the bases actually render the modeling of single kinematic chain active joint robots as a complex task that requires solving computingintensive calculations.…”

Section: Introductionmentioning

confidence: 99%

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Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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Existing direct and inverse kinematic models of planar parallel robots assume that the robot’s active joints are all at the bases. However, this approach becomes excessively complex when modeling a planar parallel robot in which the active joints are within one single kinematic chain. To address this problem, our article unveils an alternative for a 3RRR symmetric planar robot modeling technique for the derivation of the robot workspace and the analysis of its direct and inverse kinematics. The workspace was defined using a system of inequalities, and the direct and inverse kinematics models were generated using vectorial analysis and an optimized geometrical approach, respectively. The resulting models are systematically presented and validated. Two final model renditions are delivered supplying a thorough equation analysis and an applicability discussion based on the importance of the robot’s mobile platform orientation. The advantages of this model are discussed in comparison to the traditional modeling approach: whereas conventional techniques require the solution of complex eighth-degree polynomials for the analysis of the active joint configuration of these robots, these models provide an efficient back-of-the-envelope analysis approach that requires the solution of a simple second-degree polynomial.

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Section: Discussionmentioning

confidence: 99%

Section: Referencesmentioning

confidence: 99%

Section: Rrr Symmetric Planar Robot Active Jointsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Cardona,

Canales-Verdial

et al. 2024

Symmetry

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“…Their interest, beyond possible applications such as welding [17], working with heavy weights, and aiding gait rehabilitation tasks [23,24], is the inherent complexity. Almost all the challenges of parallel robots, including singularities, multiple solutions, and the impossibility of obtaining the FK and differential models in an analytical way, are present in them.…”

Section: Introductionmentioning

confidence: 99%

Kinematic Modelling of a 3RRR Planar Parallel Robot Using Genetic Algorithms and Neural Networks

García-Samartín,

Barrientos

2023

Machines

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Kinematic modelling of parallel manipulators poses significant challenges due to the absence of analytical solutions for the Forward Kinematics (FK) problem. This study centres on a specific parallel planar robot, specifically a 3RRR configuration, and addresses the FK problem through two distinct methodologies: Genetic Algorithms (GA) and Neural Networks (NN). Utilising the Inverse Kinematic (IK) model, which is readily obtainable, both GA and NN techniques are implemented without the need for closed-loop formulations or non-systematic mathematical tools, allowing for easy extension to other robot types. A comparative analysis against an existing numerical method demonstrates that the proposed methodologies yield comparable or superior performance in terms of accuracy and time, all while reducing development costs. Despite GA’s time consumption limitations, it excels in path planning, whereas NN delivers precise results unaffected by stochastic elements. These results underscore the feasibility of using neural networks and genetic algorithms as viable alternatives for real-time kinematic modelling of robots when closed-form solutions are unavailable.

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Robust Adaptive Control of a Planar 3RRR Parallel Robot for Trajectory-Tracking Applied to Crouch Gait Cycle in Children with Cerebral Palsy

Cited by 2 publications

References 15 publications

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Direct and Inverse Kinematics of a 3RRR Symmetric Planar Robot: An Alternative of Active Joints

Kinematic Modelling of a 3RRR Planar Parallel Robot Using Genetic Algorithms and Neural Networks

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