Por favor, use este identificador para citar o enlazar este ítem: https://hdl.handle.net/11000/31597
Registro completo de metadatos
Campo DC Valor Lengua/Idioma
dc.contributor.authorPeidro, Adrian-
dc.contributor.authorPerez Navarro, Pedro David-
dc.contributor.authorPuerto, Rafael-
dc.contributor.authorPaya, Luis-
dc.contributor.otherDepartamentos de la UMH::Ingeniería de Sistemas y Automáticaes_ES
dc.date.accessioned2024-02-28T12:21:01Z-
dc.date.available2024-02-28T12:21:01Z-
dc.date.created2023-05-
dc.identifier.citationMechanism and Machine Theory Volume 188, October 2023,es_ES
dc.identifier.issn0094-114X-
dc.identifier.urihttps://hdl.handle.net/11000/31597-
dc.description.abstractWhen a robot suffers a Free Swing Joint Failure, it becomes underactuated since some of its actuated joints become passive. If the joints that remain actuated are locked, the robot can perform uncontrollable free-swinging motions that are dangerous due to the risk of collision. This is typically corrected by using brakes or redundant actuators, which are costly solutions. In this paper, we propose an alternative method to secure underactuated robots after Free Swing Joint Failure without brakes or redundant actuators, by taking the healthy actuated joints to what we call ‘‘locking configurations’’. At these configurations, the manifolds along which the underactuated robot performs free-swinging motions degenerate into points, suppressing such uncontrollable motions. We present a discretization and clustering method to find locking configurations by detecting the degeneracy of free-swinging manifolds into points, introducing two criteria to confirm if these configurations are stable, by checking if passive joint velocities are forbidden or if any external wrench can be balanced by the healthy actuators. Several examples illustrate the method, including serial and parallel underactuated robots with varying numbers of failed actuators.es_ES
dc.formatapplication/pdfes_ES
dc.format.extent28es_ES
dc.language.isoenges_ES
dc.publisherElsevieres_ES
dc.rightsinfo:eu-repo/semantics/closedAccesses_ES
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectUnderactuated robotes_ES
dc.subjectFree swing joint failurees_ES
dc.subjectTorque failurees_ES
dc.subjectSelf-motion manifoldes_ES
dc.subjectParallel robotes_ES
dc.subject.otherCDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnologíaes_ES
dc.titleLocking underactuated robots by shrinking their manifolds of free-swinging motiones_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.relation.publisherversionhttps://doi.org/10.1016/j.mechmachtheory.2023.105403es_ES
Aparece en las colecciones:
Artículos Ingeniería de Sistemas y Automática


no-thumbnailVer/Abrir:

 15-s2.0-S0094114X2300174X-main (1).pdf



3,38 MB
Adobe PDF
Compartir:


Creative Commons La licencia se describe como: Atribución-NonComercial-NoDerivada 4.0 Internacional.