Next Article in Journal
Benchmarking Foot Trajectory Estimation Methods for Mobile Gait Analysis
Previous Article in Journal
Statistical-QoS Guaranteed Energy Efficiency Optimization for Energy Harvesting Wireless Sensor Networks
Article Menu
Issue 9 (September) cover image

Export Article

Open AccessArticle
Sensors 2017, 17(9), 1934; https://doi.org/10.3390/s17091934

Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots

1
Department of Automatic Control and System Engineering, Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo 1, 48013 Bilbao, Spain
2
Department of Mechanical Engineering, Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo 1, 48013 Bilbao, Spain
These authors contributed equally to this work.
*
Author to whom correspondence should be addressed.
Received: 26 July 2017 / Revised: 18 August 2017 / Accepted: 20 August 2017 / Published: 23 August 2017
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [2877 KB, uploaded 25 August 2017]   |  

Abstract

The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool Centre Point (TCP) position a challenging one. Authors have proposed different approaches to estimate this deformation and deduce the location of the TCP. However, most of these approaches require expensive measurement systems or the use of high computational cost integration methods. This work presents a novel approach based on a virtual sensor which can not only precisely estimate the deformation of the flexible links in control applications (less than 2% error), but also its derivatives (less than 6% error in velocity and 13% error in acceleration) according to simulation results. The validity of the proposed Virtual Sensor is tested in a Delta Robot, where the position of the TCP is estimated based on the Virtual Sensor measurements with less than a 0.03% of error in comparison with the flexible approach developed in ADAMS Multibody Software. View Full-Text
Keywords: flexible link manipulator; parallel robots; kinematics; Finite Element Method; virtual sensor flexible link manipulator; parallel robots; kinematics; Finite Element Method; virtual sensor
Figures

Figure 1

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).
SciFeed

Share & Cite This Article

MDPI and ACS Style

Bengoa, P.; Zubizarreta, A.; Cabanes, I.; Mancisidor, A.; Pinto, C.; Mata, S. Virtual Sensor for Kinematic Estimation of Flexible Links in Parallel Robots. Sensors 2017, 17, 1934.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top