Now showing items 1-19 of 19

  • 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 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 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 unified method for computing position and orientation workspaces of general Stewart platforms 

    Bohigas Nadal, Oriol; Ros, LLuís; Manubens Ferriol, Montserrat (2011)
    Conference report
    Open Access
    The workspace of a Stewart platform is a complex six- dimensional volume embedded in the Cartesian space defined b y six pose parameters. Because of its large dimension and com- plex shape, such workspace is difficult ...
  • 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), ...
  • Branch switching from singular points in higher-dimensional continuation 

    Bohigas Nadal, Oriol (2011)
    External research report
    Open Access
    We explain here how to perform branch switching when a singular point is found during higherdimensional continuation on a k-dimensional variety. This document is based on the information given in [1, 2, 3].
  • Elaboració de material didàctic interactiu sobre la situació dels drets humans (II fase) 

    Bohigas Nadal, Oriol (2012)
    Poster (CCD project)
    Open Access
  • Fer, altre cop, arquitectura 

    Bohigas Nadal, Oriol (Factoria ETSAV, 2012-05-08)
    Audiovisual
    Open Access
  • Multi-body singularity equations 

    Bohigas Nadal, Oriol; Ros Giralt, Lluís (2010)
    External research report
    Open Access
    This technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it ...
  • Navigating the wrench-feasible C-space of cable-driven hexapods 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
    Conference 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 ...
  • Numerical computation and avoidance of manipulator singularities 

    Bohigas Nadal, Oriol (Universitat Politècnica de Catalunya, 2013-05-10)
    Doctoral thesis
  • Numerical computation of manipulator singularities 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
    Conference report
    Open Access
    This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ...
  • Oriol Bohigas 

    Bohigas Nadal, Oriol (Palimpsesto, 2011-12)
    Article
    Open Access
  • Planning singularity-free force-feasible paths on the Stewart platform 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
    Conference report
    Open Access
    This paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform ...
  • Planning singularity-free paths on closed-chain manipulators 

    Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2013)
    Article
    Open Access
    This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains ...
  • Randomized path planning on manifolds based on higher-dimensional continuation 

    Porta Pleite, Josep Maria; Jaillet, Leonard Georges; Bohigas Nadal, Oriol (2012)
    Article
    Open Access
    Despite the significant advances in path planning methods, highly constrained problems are still challeng- ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable manifold ...
  • Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2013)
    Article
    Open Access
    The study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric ...
  • The CUIK suite: analyzing the motion closed-chain multibody systems 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (2014)
    Article
    Open Access
    Many situations in robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or ...