Exploració per autor "Bohigas Nadal, Oriol"

Ara es mostren els items 15-22 de 22

    • 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 ...

    • Oriol Bohigas 

      Bohigas Nadal, Oriol (Palimpsesto, 2011-12)
      Article
      Accés obert

    • 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 path planning on manifolds based on higher-dimensional continuation 

      Porta Pleite, Josep Maria; Jaillet, Leonard Georges; Bohigas Nadal, Oriol (2012)
      Article
      Accés obert
      Despite the significant advances in path planning methods, highly constrained problems are still challeng- ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable manifold ...

    • 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 ...

    • 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 ...