Gravitational Base Parameters Identification for a Knee Rehabilitation Parallel Robot

Pulloquinga José L., Escarabajal Rafael J., Mata Vicente, Valera Ángel, Zambrano Iván, Rosales Andres

Abstract


New robotic technology is emerging nowadays to tackle lower limb rehabilitation issues. However, the commercial robots available for lower limb rehabilitation are usually oversize and expensive. Knee rehabilitation is generally aided by a professional therapist, making this clinical procedure an interesting scope for robotics. Parallel robots are suitable candidates for knee rehabilitation due to their high load capacity, stiffness, and accuracy compared to serial ones. In contrast, this robot has singular configurations inside its workspace, and its dynamic model is generally complex. For these reasons, a parallel robot for knee rehabilitation needs an advanced control unit to solve complex mathematical problems that ensure patient security. This study proposes the base parameters identification of a compact gravitational linear model of a 3UPS+RPU parallel robot using singular value decomposition. This paper recommends adding a statistical method focused on condition number minimization to the singular value decomposition process. This statistical method reduces the computational resources taken searching for the best inertial parameters combination at the beginning of the base parameter identification. The gravitational base parameters identified have a physical meaning and low complexity. This fact makes the results of this research the basis of an adaptative control applied to 3UPS+RPU parallel robot. This study shows that the gravitational term is the most influential for knee rehabilitation tasks, compared with the inertial, Coriolis, and centrifugal components, regarding the dynamic behavior of the parallel robot.

Keywords


Base parameter; identification; parallel robot; knee rehabilitation; model-based control.

Full Text:

PDF

References


S. Xie, Advanced robotics for medical rehabilitation: current state of the art and recent advances, no. 108. 2016.

I. Díaz, J. J. Gil, and E. Sánchez, “Lower-Limb Robotic Rehabilitation: Literature Review and Challenges,†J. Robot., vol. 2011, pp. 1–11, 2011.

S. Briot and W. Khalil, Dynamics of Parallel Robots--From Rigid Links to Flexible Elements. ISBN: 978-3-319-19787-6. 2015.

M. Vallés, J. Cazalilla, Ã. Valera, V. Mata, Ã. Page, and M. DIáz-Rodríguez, “A 3-PRS parallel manipulator for ankle rehabilitation: Towards a low-cost robotic rehabilitation,†Robotica, vol. 35, no. 10, pp. 1939–1957, 2017.

M. Zhang, T. C. Davies, and S. Xie, “Effectiveness of robot-assisted therapy on ankle rehabilitation - A systematic review,†Journal of NeuroEngineering and Rehabilitation, vol. 10, no. 1. 2013.

G. Liu, J. Gao, H. Yue, X. Zhang, and G. Lu, “Design and kinematics analysis of parallel robots for ankle rehabilitation,†in IEEE International Conference on Intelligent Robots and Systems, 2006, pp. 253–258.

P. Araujo-Gómez, V. Mata, M. Díaz-Rodríguez, A. Valera, and A. Page, “Design and Kinematic Analysis of a Novel 3UPS/RPU Parallel Kinematic Mechanism With 2T2R Motion for Knee Diagnosis and Rehabilitation Tasks,†J. Mech. Robot., vol. 9, no. 6, p. 061004, Dec. 2017.

F. Valero, M. Díaz-Rodríguez, M. Vallés, A. Besa, E. Bernabéu, and Ã. Valera, “Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces,†Mechatronics, vol. 69, p. 102382, Aug. 2020.

B. Danaei, A. Arian, M. Tale masouleh, and A. Kalhor, “Dynamic modeling and base inertial parameters determination of a 2-DOF spherical parallel mechanism,†Multibody Syst. Dyn., vol. 41, no. 4, pp. 367–390, Dec. 2017.

M. Díaz-Rodríguez, V. Mata, Ã. Valera, and Ã. Page, “A methodology for dynamic parameters identification of 3-DOF parallel robots in terms of relevant parameters,†Mech. Mach. Theory, vol. 45, no. 9, pp. 1337–1356, Sep. 2010.

Y. Liu, B. Liang, W. Xu, and X. Wang, “A method for measuring the inertia properties of a rigid body using 3-URU parallel mechanism,†Mech. Syst. Signal Process., vol. 123, pp. 174–191, May 2019.

G. Gao, G. Sun, J. Na, Y. Guo, and X. Wu, “Structural parameter identification for 6 DOF industrial robots,†Mech. Syst. Signal Process., vol. 113, pp. 145–155, Dec. 2018.

M. Gautier, “Numerical calculation of the base inertial parameters of robots,†J. Robot. Syst., vol. 8, no. 4, pp. 485–506, Aug. 1991.

K. Ayusawa and Y. Nakamura, “Identification of base parameters for large-scale kinematic chains based on physical consistency approximation by polyhedral convex cones,†in CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 524, Springer International Publishing, 2010, pp. 91–98.

J. Cazalilla, M. Vallés, V. Mata, M. Díaz-Rodríguez, and A. Valera, “Adaptive control of a 3-DOF parallel manipulator considering payload handling and relevant parameter models,†Robot. Comput. Integr. Manuf., vol. 30, no. 5, pp. 468–477, Oct. 2014.

J. Ros, X. Iriarte, and V. Mata, “3D inertia transfer concept and symbolic determination of the base inertial parameters,†in Mechanism and Machine Theory, 2012, vol. 49, pp. 284–297.

A.I. Kapandji, Fisiologia articular II, Miembro inferior, 6th ed. Madrid: Médica Panamericada, 2010.

M. Vallés et al., “Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator,†Mech. Based Des. Struct. Mach., vol. 46, no. 4, pp. 425–439, Jul. 2018.

S. Briot and M. Gautier, “Global identification of joint drive gains and dynamic parameters of parallel robots,†Multibody Syst. Dyn., vol. 33, no. 1, pp. 3–26, 2015.

M. Díaz-Rodríguez, “Identificación de parámetros dinámicos de robots paralelos basada en un conjunto de parámetros significativos,†Universitat Politècnica de València, 2009.




DOI: http://dx.doi.org/10.18517/ijaseit.12.2.15289

Refbacks

  • There are currently no refbacks.



Published by INSIGHT - Indonesian Society for Knowledge and Human Development