Exploració per autor "Grosch Obregon, Patrick John"
Ara es mostren els items 4-12 de 12
-
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 obertThis 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 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
Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (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 ... -
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 obertCurrent 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 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 ... -
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 obertDesigning 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 obertThe 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 obertThe 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 obertThis 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 ...