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Ara es mostren els items 43-48 de 48

    • 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 ...