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A first approach to a proposal of a soft robotic link acting as a neck
dc.contributor.author | Nagua, Luis | |
dc.contributor.author | Muñoz, Jorge | |
dc.contributor.author | Monje, Concepcion A. | |
dc.contributor.author | Balaguer, Carlos | |
dc.date.accessioned | 2020-02-18T07:53:43Z | |
dc.date.available | 2020-02-18T07:53:43Z | |
dc.date.issued | 2018 | |
dc.identifier.citation | 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 | es_ES |
dc.identifier.isbn | 978-84-09-04460-3 (UEX) | |
dc.identifier.isbn | 978-84-9749-756-5 (UDC electrónico) | |
dc.identifier.uri | http://hdl.handle.net/2183/24937 | |
dc.description.abstract | [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. | es_ES |
dc.description.sponsorship | Ministerio de Economía y Empresa; DPI2016-75330-P | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | Área de Ingeniería de Sistemas y Automática, Universidad de Extremadura | es_ES |
dc.relation.hasversion | http://hdl.handle.net/10662/8411 | |
dc.relation.uri | https://doi.org/10.17979/spudc.9788497497565.0522 | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by-nc/3.0/es/ | * |
dc.subject | Soft robotics neck | es_ES |
dc.subject | Cable-driven parallel | es_ES |
dc.subject | Mechanisms (CDPM) | es_ES |
dc.subject | Fractional order control | es_ES |
dc.subject | Robust control | es_ES |
dc.subject | Neck prototype | es_ES |
dc.title | A first approach to a proposal of a soft robotic link acting as a neck | es_ES |
dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
dc.rights.access | info:eu-repo/semantics/openAccess | es_ES |
UDC.startPage | 522 | es_ES |
UDC.endPage | 529 | es_ES |
dc.identifier.doi | https://doi.org/10.17979/spudc.9788497497565.0522 | |
UDC.conferenceTitle | XXXIX Jornadas de Automática | es_ES |