A first approach to a proposal of a soft robotic link acting as a neck
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http://hdl.handle.net/2183/24937
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A first approach to a proposal of a soft robotic link acting as a neckData
2018Cita bibliográfica
Nagua, L., Muñoz, J., Monje, C.A., Balaguer, C. A first approach to a proposal of a soft robotic link acting as a neck. En Actas de las XXXIX Jornadas de Automática, Badajoz, 5-7 de Septiembre de 2018 (pp.522-529). DOI capítulo: https://doi.org/10.17979/spudc.9788497497565.0522 DOI libro: https://doi.org/10.17979/spudc.9788497497565
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http://hdl.handle.net/10662/8411
Resumo
[Abstract] The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip.
Palabras chave
Soft robotics neck
Cable-driven parallel
Mechanisms (CDPM)
Fractional order control
Robust control
Neck prototype
Cable-driven parallel
Mechanisms (CDPM)
Fractional order control
Robust control
Neck prototype
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ISBN
978-84-09-04460-3 (UEX) 978-84-9749-756-5 (UDC electrónico)
