Now showing items 1-20 of 35

  • 6-D manipulation with aerial towed-cable system 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Cortés, Juan; Ros Giralt, Lluís (2013)
    Conference report
    Open Access
    We propose a new approach for the reliable 6-dimensional quasi-static manipulation of an aerial towed-cable system. The novelty of this approach lies in the combination of results deriving from the static analysis of ...
  • A complete method for workspace boundary determination 

    Bohigas Nadal, Oriol; Ros Giralt, Lluís; Manubens Ferriol, Montserrat (Springer Verlag, 2010)
    Conference report
    Open Access
  • A general method for the numerical computation of manipulator singularity sets 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
    Article
    Open Access
    The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ...
  • A kinematic-geometric approach to spatial interpretation of line drawings 

    Ros Giralt, Lluís (Universitat Politècnica de Catalunya, 2000-11-14)
    Doctoral thesis
    Open Access
  • A linear relaxation method for computing workspace slices of the Stewart platform 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (ASME PRESS, 2013)
    Article
    Restricted access - publisher's policy
    The workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, this volume is difficult to compute ...
  • A linear relaxation technique for the position analysis of multi-loop linkages 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2008)
    External research report
    Open Access
    This report presents a new method able to isolate all configurations that a multi-loop linkage can adopt. We tackle the problem by providing formulation and resolution techniques that fit particularly well together. The ...
  • A linear relaxation technique for the position analysis of multiloop linkages 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico (2009)
    Article
    Open Access
    This paper presents a new method to isolate all configurations that a multiloop linkage can adopt. The problem is tackled by means of formulation and resolution techniques that fit particularly well together. The adopted ...
  • A motion planning approach to 6-D manipulation with aerial towed-cable systems 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan (2013)
    Conference report
    Open Access
    We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towed- cable systems. The novelty of this approach lies in the combination of results deriving from the static analysis of ...
  • A singularity-free path planner for closed-chain manipulators 

    Bohigas Nadal, Oriol; Henderson, Michael E; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
    Conference report
    Open Access
    This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a ...
  • A space decomposition method for path planning of loop linkages 

    Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico (IEEE, 2007)
    Conference report
    Open Access
    This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ...
  • A wrench-sensitive touch pad based on a parallel structure 

    Frigola Alcalde, Roger; Ros Giralt, Lluís; Roure Fernández, Francisco; Thomas, Federico (IEEE, 2008)
    Conference report
    Open Access
    Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ...
  • A wrench-sensitive touch pad based on a parallel structure 

    Frigola Alcalde, Roger; Ros Giralt, Lluís; Roure Fernández, Francisco; Thomas, Federico (2008)
    Conference report
    Open Access
    Many different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ...
  • An open-source toolbox for motion analysis of closed-chain mechanisms 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (Springer, 2013)
    Conference report
    Open Access
    Many situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ...
  • Box approximations of planar linkage configuration spaces 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Creemers, Tom Lambert; Thomas, Federico (ASME International, 2007)
    Article
    Open Access
    This paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and ...
  • Complete maps of molecular-loop conformational spaces 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Thomas, Federico; Corcho Sánchez, Francisco José; Cantó Silva, Josep; Pérez, Juan J. (John Wiley & Sons, Inc., 2007)
    Article
    Open Access
    This paper presents a numerical method to compute all possible conformations of distance-constrained molecular loops, i.e., loops where some interatomic distances are held fixed, while others can vary. The method is general ...
  • Computing wrench-feasible paths for cable-driven hexapods 

    Bohigas, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2015)
    External research report
    Open Access
    Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack ...
  • Efficient computation of 3D skeletons by extreme vertex encoding 

    Rodríguez Rojas, Jorge Ernesto; Thomas, Federico; Ayala Vallespí, M. Dolors; Ros Giralt, Lluís (2003)
    Article
    Open Access
    Many skeletonisation algorithms for discrete volumes have been proposed. Despite its simplicity, the one given here still has many theoretically favorable properties. Actually, it provides a connected surface skeleton that ...
  • Exact interval propagation for the efficient solution of planar linkages 

    Celaya Llover, Enric; Creemers, Tom Lambert; Ros Giralt, Lluís (ASME, 2007)
    Conference report
    Open Access
    This paper presents an interval propagation algorithm for variables in single-loop linkages. Given allowed intervals of values for all variables, the algorithm provides, for every variable, the exact interval of values for ...
  • Exact interval propagation for the efficient solution of position analysis problems on planar linkages 

    Celaya Llover, Enric; Creemers, Tom Lambert; Ros Giralt, Lluís (2012)
    Article
    Open Access
    This paper presents an interval propagation algorithm for variables in planar single-loop linkages. Given intervals of allowed values for all variables, the algorithm provides, for every variable, the whole set of values, ...
  • Finding all valid hand configurations for a given precision grasp 

    Rosales Gallegos, Carlos; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl; Ros Giralt, Lluís (IEEE, 2008)
    Conference report
    Open Access
    Planning a precision grasp for a robot hand is usually decomposed into two main steps. First, a set of contact points over the object surface must be determined, ensuring they allow a stable grasp. Second, the inverse ...