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Ara es mostren els items 32-48 de 48

    • Kinodynamic planning on constraint manifolds 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
      Report de recerca
      Accés obert
      This report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ...

    • Model predictive control for a Mecanum-wheeled robot navigating among obstacles 

      Moreno Caireta, Iñigo; Celaya Llover, Enric; Ros Giralt, Lluís (Elsevier, 2021)
      Text en actes de congrés
      Accés obert
      Mecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, ...

    • Motion planning for 6D manipulation with aerial towed-cable systems 

      Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan (2013)
      Text en actes de congrés
      Accés obert
      Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static ...

    • Multi-body singularity equations 

      Bohigas Nadal, Oriol; Ros Giralt, Lluís (2010)
      Report de recerca
      Accés obert
      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)
      Text en actes de congrés
      Accés obert
      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 of manipulator singularities 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
      Text en actes de congrés
      Accés obert
      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 ...

    • On the numerical classification of the singularities of robot manipulators 

      Bohigas Nadal, Oriol; Zlatanov, Dimiter; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2013)
      Text en actes de congrés
      Accés obert
      This paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity ...

    • On the symmetric molecular conjectures 

      Porta Pleite, Josep Maria; Ros Giralt, Lluís; Schulze, Bernd; Sljoka, Adnan; Whiteley, Walter (Springer, 2013)
      Text en actes de congrés
      Accés obert
      A molecular linkage consists of a set of rigid bodies pairwise connected by revolute hinges where all hinge lines of each body are concurrent. It is an important problem in biochemistry, as well as in robotics, to efficiently ...

    • Planning singularity-free force-feasible paths on the Stewart platform 

      Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
      Text en actes de congrés
      Accés obert
      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
      Accés obert
      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 ...

    • Planning wrench-feasible motions for cable-driven hexapods 

      Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2016-04-01)
      Article
      Accés obert
      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-to ...

    • Randomized kinodynamic planning for cable-suspended parallel robots 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Springer, 2017)
      Text en actes de congrés
      Accés obert
      This paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and ...

    • Randomized kinodynamic planning for constrained systems 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Text en actes de congrés
      Accés obert
      Kinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, ...

    • Randomized planning of dynamic motions avoiding forward singularities 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Springer International Publishing, 2018)
      Text en actes de congrés
      Accés obert
      Forward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded ...

    • 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
      Accés obert
      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 ...

    • Synthesizing grasp configurations with specified contact regions 

      Rosales Gallegos, Carlos; Ros Giralt, Lluís; Porta Pleite, Josep Maria; Suárez Feijóo, Raúl (2011)
      Article
      Accés obert
      This paper presents a new method to solve the configuration problem on robotic hands:deter- mine how a hand should be configured so as to grasp a given object in a specific way, characterized by a number of hand-object ...

    • 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
      Accés obert
      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 ...