Optimal Reconfiguration of a Parallel Robot for Forward Singularities Avoidance in Rehabilitation Therapies. A Comparison via Different Optimization Methods

Carlos Llopis-Albert, Francisco Valero, Vicente Mata, José L. Pulloquinga, Pau Zamora-Ortiz and Rafael J. Escarabajal
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Carlos Llopis-Albert: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain
Francisco Valero: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain
Vicente Mata: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain
José L. Pulloquinga: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain
Pau Zamora-Ortiz: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain
Rafael J. Escarabajal: Centro de Investigación en Ingeniería Mecánica (CIIM), Universitat Politècnica de València–Camino de Vera s/n, 46022 Valencia, Spain

Sustainability, 2020, vol. 12, issue 14, 1-18

Abstract: This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variables correspond to the anchoring points of the limbs of the robot on the fixed platform. The penalty function minimizes the forces applied by the actuators during a specific trajectory. Some constraints are imposed to avoid forward singularities and guarantee the feasibility of the active generalized coordinates for a certain trajectory. The results are compared with different optimization approaches with the aim of avoiding getting trapped into a local minimum and undergoing forward singularities. The comparison covers evolutionary algorithms, heuristics optimizers, multistrategy algorithms, and gradient-based optimizers. The proposed methodology has been successfully tested on an actual parallel robot for different trajectories.

Keywords: parallel robot; rehabilitation; reconfiguration; optimization; trajectory planning; direct singularities (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2020
References: View references in EconPapers View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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Persistent link: https://EconPapers.repec.org/RePEc:gam:jsusta:v:12:y:2020:i:14:p:5803-:d:386664

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