Exploració per autor "Grosch Obregon, Patrick John"Més informacióMés informació

Ara es mostren els items 1-12 de 12

    • A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms 

      Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2013)
      Text en actes de congrés
      Accés obert
      This paper deals with the motion planning problem for parallel orienting platforms with one non-holonomic joint and two prismatic actuators which can maneuver to reach any three-degree-of-freedom pose of the moving platform. ...

    • A one-motor full-mobility 6-PUS manipulator 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (Springer, 2010)
      Text en actes de congrés
      Accés obert
      This 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 reconfigurable asymmetric 3-UPU parallel robot 

      Sarabandi, Soheil; Grosch Obregon, Patrick John; Porta Pleite, Josep Maria; Thomas, Federico (2018)
      Text en actes de congrés
      Accés obert
      Parallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some ...

    • Contact force transitions in regrasp tasks of planar objects 

      Grosch Obregon, Patrick John; Suárez Feijóo, Raúl; Carloni, Raffaella; Melchiorri, Claudio (2007-07-07)
      Report de recerca
      Accés obert
      This paper presents a simple and fast solution to the problem of finding the time variations of the forces that keep the object equilibrium when a finger is removed from a three contact point grasp or a finger is added to ...

    • Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (ASME PRESS, 2010)
      Article
      Accés obert
      This 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 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (2009)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      It 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 ...

    • Geometric path planning without maneuvers for nonholonomic parallel orienting robots 

      Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2016-07)
      Article
      Accés obert
      Current geometric path planners for nonholonomic parallel orienting robots generate maneuvers consisting of a sequence of moves connected by zero-velocity points. The need for these maneuvers restrains the use of this kind ...

    • Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; López, Javier; Thomas, Federico (2010)
      Text en actes de congrés
      Accés obert
      This 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 ...

    • Motion planning for parallel robots with non-holonomic joints 

      Tchon, Krzysztof; Jakubiak, Janusz; Grosch Obregon, Patrick John; Thomas, Federico (2012)
      Text en actes de congrés
      Accés obert
      Designing a robot manipulator with fewer actuators than the dimension of its configuration space —to reduce bulk, weight and cost— becomes feasible by introducing mechanical elements that lead to non-holonomic constraints. ...

    • Parallel robots with unconventional joints to achieve under-actuation and reconfigurability 

      Grosch Obregon, Patrick John (Universitat Politècnica de Catalunya, 2016-06-23)
      Tesi
      Accés obert
      The aim of the thesis is to define, analyze, and verify through simulations and practical implementations, parallel robots with unconventional joints that allow them to be under-actuated and/or reconfigurable. The new ...

    • The humanoidLab: involving students in a research centre through an educational initiative 

      Alenyà Ribas, Guillem; Rivero Partida, José Luís; Rull Sanahuja, Aleix; Grosch Obregon, Patrick John; Hernández Juan, Sergi (SciTePress, 2014)
      Text en actes de congrés
      Accés obert
      The HumanoidLab is a more than 5 year old activity aimed to use educational robots to approach students to our Research Centre. Different commercial educative humanoid platforms have been used to introduce students to ...

    • Uncalibrated visual servo for unmanned aerial manipulation 

      Santamaria Navarro, Àngel; Grosch Obregon, Patrick John; Lippiello, Vincenzo; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
      Article
      Accés obert
      This paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ...