Experimental and Computational Methodology for the Determination of Hydrodynamic Coefficients Based on Free Decay Test: Application to Conception and Control of Underwater Robots

Autor: Juan S. Cely, Roque Saltaren, Gerardo Portilla, Oz Yakrangi, Alejandro Rodriguez-Barroso

Publikováno v: Sensors, Vol 19, Iss 17, p 3631 (2019)

Hydrodynamic coefficients are essential for the development of underwater robots; in particular, for their design and navigation control. To obtain these coefficients, several techniques exist. These methods are usually experimental, but, more recent

Externí odkaz: https://doaj.org/article/bf22f6f744234d9dab620938ddaef5d6

Cable-Driven Parallel Robot with Reconfigurable End Effector Controlled with a Compliant Actuator

Autor: Alejandro Rodriguez-Barroso, Roque Saltaren, Gerardo A. Portilla, Juan S. Cely, Marco Carpio

Publikováno v: Sensors, Vol 18, Iss 9, p 2765 (2018)

Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A co

Externí odkaz: https://doaj.org/article/6bad4f8c04d54427938789e16cada076

A Simulation Study of a Planar Cable-Driven Parallel Robot to Transport Supplies for Patients with Contagious Diseases in Health Care Centers

Autor: Cristian Calderon, Juan C. Guerra, Roque Saltaren, Julio Viola, Marco Carpio, Juan S. Cely, Cecilia Garcia

Publikováno v: Robotics
Volume 10
Issue 4
Robotics, Vol 10, Iss 111, p 111 (2021)

Currently, a large number of investigations are being carried out in the area of robotics focused on proposing solutions in the field of health, and many of them have directed their efforts on issues related to the health emergency due to COVID-19. C

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::29240bfc7f87dcc2e7a9081ff1781bbf
https://doi.org/10.3390/robotics10040111

Modeling and Oscillations Control of a Planar Parallel Robot Subsystem Activated by Cable

Autor: Juan C. Placencia, JoseM. Aller, Juan S. Cely, Alejandro Rodriguez, Gerardo Portilla, Marco Carpio, Roque Saltaren

Publikováno v: 2019 IEEE 4th Colombian Conference on Automatic Control (CCAC).

Cable Driven Parallel Robots (CDPR) are formed by putting together two separate structures, one fixed and the other mobile part which are held together by actuating wires. These robots present several physical phenomena including vibrations and elong

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::59a8ba9bd0492fcb65fdf6a8e1dc73fd
https://doi.org/10.1109/ccac.2019.8920840

Potential Energy Distribution of Redundant Cable-Driven Robot Applied to Compliant Grippers: Method and Computational Analysis

Autor: Juan S. Cely, Oz Yakrangi, Roque Saltaren, Alejandro Rodriguez-Barroso, Gerardo Portilla

Publikováno v: Sensors, 2019, Vol. 19, No. 15
Sensors, Vol 19, Iss 15, p 3403 (2019)
Archivo Digital UPM
Universidad Politécnica de Madrid
Sensors (Basel, Switzerland)
Sensors
Volume 19
Issue 15

Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achie

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d8b8f0afd561dbd16093d0a01b0b3418
https://oa.upm.es/65886/