Exploració per tema "Classificació INSPEC::Automation::Robots::Manipulators"
Ara es mostren els items 1-14 de 14
-
A Grasping-centered analysis for cloth manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2020-06-01)
Article
Accés obertCompliant and soft hands have gained a lot of atten- tion in the past decade because of their ability to adapt to the shape of the objects, increasing their effectiveness for grasping. However, when it comes to grasping ... -
A one-motor full-mobility 6-PUS manipulator
(Springer, 2010)
Text en actes de congrés
Accés obertThis paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, ... -
A representation of cloth states based on a derivative of the Gauss linking integral
(Elsevier, 2023-11-15)
Article
Accés obertRobotic manipulation of cloth is a complex task because of the infinite-dimensional shape-state space of textiles, which makes their state estimation very difficult. In this paper we introduce the dGLI Cloth Coordinates, ... -
A unified method for computing position and orientation workspaces of general Stewart platforms
(2011)
Text en actes de congrés
Accés obertThe 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 ... -
A wrench-sensitive touch pad based on a parallel structure
(IEEE, 2008)
Text en actes de congrés
Accés obertMany 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 ... -
Active perception of deformable objects using 3D cameras
(Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
Text en actes de congrés
Accés obertPerception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ... -
Differential flatness of a class of n-DOF planar manipulators driven by 1 or 2 actuators
(2010-02)
Article
Accés obertA fully actuated system can execute any joint trajectory. However, if a system is under-actuated, not all joint trajectories are attainable. The authors have actively pursued novel designs of under-actuated robotic arms ... -
Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators
(ASME PRESS, 2010)
Article
Accés obertThis paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case ... -
Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study
(2009)
Text en actes de congrés
Accés restringit per política de l'editorialIt will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair ... -
Learning inverse kinematics: Reduced sampling through decomposition into virtual robots
(IEEE, 2008)
Article
Accés obertWe propose a technique to speed up the learning of the inverse kinematics of a robot manipulator by decomposing it into two or more virtual robot arms. Unlike previous decomposition approaches, this one does not place any ... -
Manipulation monitoring and robot intervention in complex manipulation sequences
(2014)
Text en actes de congrés
Accés obertCompared to machines, humans are intelligent and dexterous; they are indispensable for many complex tasks in areas such as flexible manufacturing or scientific experimentation. However, they are also subject to fatigue and ... -
Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints
(2010)
Text en actes de congrés
Accés obertThis paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic ... -
Multi-body singularity equations
(2010)
Report de recerca
Accés obertThis 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 ... -
Redundant inverse kinematics: experimental comparative review and two enhancements
(2012)
Text en actes de congrés
Accés obertMotivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used closed-loop methods for redundant robots, analysing their main points of concern: convergence, ...