R. Saltaren

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Papers by R. Saltaren

An active helideck testbed for floating structures based on a stewart-gough platform

A parallel robot testbed based on Stewart-Gough platform called Active-helideck is designed, deve... more A parallel robot testbed based on Stewart-Gough platform called Active-helideck is designed, developed and tested as a helicopter floating helideck. The objective of this testbed is to show the advantages of helicopters that use an active helideck upon landing on and taking off from ships or from offshore structures. Active-helideck compensates simulated movements of a ship at sea. The main goal of this study is to maintain the robot's end effector (helideck) in a quasi-static position in accordance to an absolute inertial frame. Compensation is carried out through the coordinate action of its six prismatic actuators in function of an inertial measurement unit. Moreover, the simulation of the sea movement is done by a parallel robot called ship platform with three degrees of freedom. The ship platform is built with a vertical oscillation along the z axis, i.e. heave, and rotates on remaining axes, i.e. roll and pitch. Active helideck is able to compensate simulated movements by considering the ship as an inertial frame as observed in the experiment.

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Linearization and control of a system of pneumatic suspension of a sphere

2017 IEEE XXIV International Conference on Electronics, Electrical Engineering and Computing (INTERCON), 2017

In this paper, details the functioning of a plant of control, air suspension of a sphere, through... more In this paper, details the functioning of a plant of control, air suspension of a sphere, through which it will analyze its mathematical model, its nonlinear behavior, which must be linearized in a point of operation, to subsequently generate a PID control of it, in order to verify the correct behavior of the plant against several perturbations, their respective testing and simulation using MATLAB software.

El exoesqueleto de rehabilitación de la marcha ALICE: análisis dinámico y evaluación del sistema de control utilizando cuaternios de Hamilton

Revista Iberoamericana De Automatica E Informatica Industrial, 2020

A robotic exoskeleton is an electromechanical device that can be worn by a person to increase its... more A robotic exoskeleton is an electromechanical device that can be worn by a person to increase its physical capacity, to assist locomotion or for gait rehabilitation processes. In the case of rehabilitation exoskeletons, the control system is required to be smooth and capable to match accurately with the patients’ evolution in order to optimize the eciency of their recovery, this implies the design of robust and precise controllers. In this paper, kinematic analysis, dynamic analysis and control system evaluation for ALICE rehabilitation exoskeleton is presented. Among the control techniques used are: the PD controller, adaptive PD, and the sliding mode controller. In addition, a stability analysis using the Lyapunov criterion is performed. To test the performance of the controllers, gait data obtained by the ONCE School of Physiotherapy in Madrid, which correspond to healthy people and people with multiple sclerosis, are used. MATLAB as simulation software and programming language ...

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Kinematics control of a 6 URS parallel platform working as an impedance display

Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.

ABSTRACT Parallel platforms offer advantages that make suitable for working as master devices in ... more ABSTRACT Parallel platforms offer advantages that make suitable for working as master devices in a bilateral teleoperation scheme. This paper presents the geometrical model and the kinematic algorithms of a 6 URS platform developed to be used as an impedance that reads the position of the operator and reflects forces to him.

Diseño de un Controlador Híbrido en Ambientes Virtuales para Teleoperación

Revista iberoamericana de automática e informática industrial, 2010

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Climbing parallel robot: a computational and experimental study of its performance around structural nodes

IEEE Transactions on Robotics, 2005

This paper presents a study of the kinematics and dynamics performance of a climbing parallel rob... more This paper presents a study of the kinematics and dynamics performance of a climbing parallel robot (CPR) to avoid nodes on structural frames. To avoid a structural node, a CPR can acquire some determined postures. A series of postures can be combined to generate the convenient movements to climb along the structural node. The postures of a CPR must be

Dimensional synthesis of a spherical parallel manipulator based on the evaluation of global performance indexes

In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a 3PSU-IS k... more In this work, the dimensional synthesis of a spherical Parallel Manipulator (PM) with a 3PSU-IS kinematic chain is presented. The goal of the synthesis is to find a set of parameters that defines the PM with the best performance in terms of workspace capabilities, dexterity and isotropy. The PM is parametrized in terms of a reference element, and a non-directed search of these parameters is carried out. First, the inverse kinematics and instantaneous kinematics of the mechanism are presented. The latter is found using the screw theory formulation. An algorithm that explores a bounded set of parameters and determines the corresponding value of global indexes is presented. The concepts of a novel global performance index and a compound index are introduced. Simulation results are shown and discussed. The best PMs found in terms of each performance index evaluated are locally analyzed in terms of its workspace and local dexterity. The relationship between the performance of the PM and its parameters is discussed, and a prototype with the best performance in terms of the compound index is presented and analyzed.

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Multibody Dynamics Model of a Human Hand for Haptics Interaction

Lecture Notes in Computer Science

In this paper we propose a strategy for modelling a human hand for Haptics interaction.The strate... more In this paper we propose a strategy for modelling a human hand for Haptics interaction.The strategy consists in a parallel computing architecture that calculates the dynamics of a hand, this is accomplished by computing the dynamics of each finger in a parallel manner. In this approach multiple threads (e.g. haptics thread, graphics thread, collision detection thread, etc.) run concurrently and therefore we developed a synchronization mechanism for data exchange. We describe in detail the elements of the developed software.

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Design of the robot-cub (iCub) head

Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006.

This paper describes the design of a robot head, developed in the framework of the RobotCub proje... more This paper describes the design of a robot head, developed in the framework of the RobotCub project. This project goals consists on the design and construction of a humanoid robotic platform, the iCub, for studying human cognition. The final platform will be approximately 90cm tall, with 23 kg and with a total number of 53 degrees of freedom. For its size, the iCub is the most complete humanoid robot currently being designed, in terms of kinematic complexity. The eyes can also move, as opposed to similarly sized humanoid platforms. Specifications are made based on biological anatomical and behavioral data, as well as tasks constraints. Different concepts for the neck design (flexible, parallel and serial solutions) are analyzed and compared with respect to the specifications. The eye structure and the proprioceptive sensors are presented, together with some discussion of preliminary work on the face design.

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A Sensor Based on a Spherical Parallel Mechanism for the Measurement of Fluid Velocity: Physical Modelling and Computational Analysis

Sensors

In this article, a new method was developed to measure the velocity of a fluid using a sensor, ba... more In this article, a new method was developed to measure the velocity of a fluid using a sensor, based on the use of a spherical parallel mechanism with three degrees-of-freedom (DOF). This sensor transforms the kinetic energy of the fluid into potential energy by deforming the parallel mechanism. This deformation is due to the impact of the fluid on a sphere attached to the platform of the parallel mechanism. Through the acquisition of data from a sensor using an inertial measurement unit (IMU) in the sphere, an algorithm calculates the velocity and direction of the fluid. In this article, a mathematical model of the mechanism and an algorithm for correctly measuring the velocity and direction of the fluid is developed; this algorithm is tested through a simulation in the Adams software, and the MATLAB software is used to execute the algorithm. The results show that the algorithm calculates the velocity and the direction of the fluid correctly, demonstrating the technical feasibility...

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Computer Aided Methodology for Design of Robots in Construction Industry Applications

New large range robots with hydraulic actuators play a key role in the automation of several impo... more New large range robots with hydraulic actuators play a key role in the automation of several important construction tasks and its demand is increasing nowadays. However the steps for design this type of robots are not structured today, and it is performed in an individual way. This paper presents a new computer aided methodology for design of robots in construction industry applications. This methodology is based on the 3D kinematics CAD toolbox for robot simulation TOROS [1] and software modules linked to 3D dynamics simulation package ADAMS [2]. This methodology has been applied in an iterative way for design of the large range or , site assembly ROCCO robot [ 3] (for wall erection using big blocks ; and for a metallic structure inspection robot t ha! is under development now.

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Computational Cost of Two Forward Kinematic Models for a SG Based Climbing Robot

Using Parallel Platforms as Climbing Robots

Industrial Robotics: Programming, Simulation and Applications, 2006

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Kinematic Control for Navigation of Mobile Parallel Robots Applied to Large Structures

Proceedings of the 17th IAARC/CIB/IEEE/IFAC/IFR International Symposium on Automation and Robotics in Construction

In this article we propose a path planning strategy for a parallel climbing robot. The robot must... more In this article we propose a path planning strategy for a parallel climbing robot. The robot must be capable of displacing along an "a priori" unknown trajectory, i.e. tubes or beams. Firstly we show the characteristics of the proposed robot. Next we briefly review the theoretic tools of parallel platforms, the inverse and forward kinematic needed for the path planning of 6-6 parallel robot. Then a new navigation algorithm for path planning based on the auto-centring of the bases is presented. We also show some simulations of the functioning of the algorithm. Finally, some conclusions and future work is presented.

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Parallel Climbing Robots for Construction, Inspection and Maintenance

Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction

In this paper we propose the use of parallel platforms as climbing robots considering the big loa... more In this paper we propose the use of parallel platforms as climbing robots considering the big load capacity that this structures have and their ability to progress on the workspace. In the first part we suggest a theoretical framework where dynamics and kinematics relationships that characterize these robotics structures are defined for their applications as climbing robots. Furthermore we propose several mechanical architectures for parallel climbing robots, like robots for bridge or building structures. Finally we describe a parallel robot architecture that nowadays is being developed for the maintenance of post, cables or palm trees.

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Hierarchical Control Architecture for Large Range Robots with Static Deflection Correction

IFAC Proceedings Volumes

Base molecule design and simulation of modular robot RobMAT

Proceedings of the 16th IFAC World Congress, 2005, 2005

This article presents the design of the base molecule for the RobMAT modular robot and the simula... more This article presents the design of the base molecule for the RobMAT modular robot and the simulation tool MAVES (Modular Agents Virtual Environment Simulator). The base molecule is formed by 3 link atoms, 2-foot accessories and 2 joint atoms with 3 d.o.f. With the developed simulator, it is possible to analyse the kinematics morphology and dynamics behaviour of different configurations. MAVES tool allows evaluating control algorithms in order to minimize some parameters. Denavit-Hartenberg method is applied to calculate the kinematics of the base molecule and from thereon study the singular configuration of the modular robot.

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Robust adaptive control of the Stewart-Gough robot in the task space

Proceedings of the 2010 American Control Conference, 2010

This paper deals with the robust adaptive control of the Stewart-Gough platform based on the task... more This paper deals with the robust adaptive control of the Stewart-Gough platform based on the task space dynamic equations. These equations were obtained using the virtual work approach, and include all the thirteen bodies presented in the platform, i.e. two bodies per each leg and the upper ring. The performance of the robust adaptive control law is evaluated using a sinusoidal path for position and orientation of the upper ring. Simulation were carried out to show the performance of the controller.

Haptic Control for the Teleoperation of a Climbing Parallel Robot

Mobile Robotics - Solutions and Challenges - Proceedings of the Twelfth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2010

Advances in Control of Teleoperation System by State Convergence

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