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Ara es mostren els items 1-20 de 48

    • 6-D manipulation with aerial towed-cable system 

      Manubens Ferriol, Montserrat; Devaurs, Didier; Cortés, Juan; Ros Giralt, Lluís (2013)
      Text en actes de congrés
      Accés obert
      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)
      Text en actes de congrés
      Accés obert

    • 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
      Accés obert
      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)
      Tesi
      Accés obert
      This Thesis contributes with new algorithms for line drawing interpretation. A line drawing is a 2D diagram of vertices and straight edges aiming to depict a polyhedral 3D scene. Given one such drawing we usually want ...

    • A Legendre-Gauss pseudospectral collocation method for trajectory optimization in second order systems 

      Moreno Martín, Siro; Ros Giralt, Lluís; Celaya Llover, Enric (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Text en actes de congrés
      Accés obert
      Pseudospectral collocation methods have proven to be powerful tools to solve optimal control problems. While these methods generally assume the dynamics is given in the first order form xdot = f(x, u, t), where x is the ...

    • 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
      Accés restringit per política de l'editorial
      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)
      Report de recerca
      Accés obert
      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
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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 randomised kinodynamic planner for closed-chain robotic systems 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
      Article
      Accés obert
      Kinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, ...

    • A randomized kinodynamic planner for closed-chain robotic systems 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (2019)
      Report de recerca
      Accés obert
      Kinodynamic RRT planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, like parallel robots, cooperating ...

    • A singularity-free path planner for closed-chain manipulators 

      Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Porta Pleite, Josep Maria (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      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 singularity-robust LQR controller for parallel robots 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      Parallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ...

    • A space decomposition method for path planning of loop linkages 

      Porta Pleite, Josep Maria; Cortes, Juan; Ros Giralt, Lluís; Thomas, Federico (IEEE, 2007)
      Text en actes de congrés
      Accés obert
      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 space decomposition method for path planning of loop linkages 

      Porta Pleite, Josep Maria; Cortés, Juan; Ros Giralt, Lluís; Thomas, Federico (2007)
      Text en actes de congrés
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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
      Accés obert
      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 ...

    • Collocation methods for second and higher order systems 

      Moreno Martín, Siro; Ros Giralt, Lluís; Celaya Llover, Enric (2023-02-01)
      Article
      Accés obert
      It is often unnoticed that the predominant way to use collocation methods is fundamentally flawed when applied to optimal control in robotics. Such methods assume that the system dynamics is given by a first order ODE, ...