Recent Submissions

  • Searching force-closure optimal grasps of articulated 2D objects with n links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (International Federation of Automatic Control (IFAC), 2014)
    Conference report
    Open Access
    This paper proposes a method that finds a locally optimal grasp of an articulated 2D object with n links considering frictionless contacts. The surface of each link of the object is represented by a finite set of points, ...
  • Using hand synergies as an optimality criterion for planning human-like motions for mechanical hands 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    The use of anthropomorphic mechanical hands allows the execution of complex manipulation tasks and, therefore, its use is increasing, both in humanoid robots and mobile manipulators. The planning of the motions of these ...
  • Getting comfortable hand configurations while manipulating an object 

    Montaño, Andrés; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    The paper presents an approach to manipulate unknown objects based on tactile information and force feedback. The object manipulation is performed using two fingers of the Shunck Dexterous Hand, which is equipped with ...
  • Optimization of robot coordination using temporal synchronization 

    Rodriguez, Carlos; Montaño, Andrés; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    This work presents an optimization method applied to robot coordination using temporal synchronization. The coordination process considers the possibility of using multi-robot systems in which each robot executes individually ...
  • Sliding mode control of a three-phase three-wire LCL rectifier 

    Biel Solé, Domingo; Dòria Cerezo, Arnau; Repecho del Corral, Víctor; Fossas Colet, Enric (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    This paper presents a dynamic analysis and the control design for a three-phase three-wire unity power factor rectifier with a LCL filter. The control algorithm is based on the sliding mode control techniques that provides ...
  • The Kautham Project: A teaching and research tool for robot motion planning 

    Rosell Gratacòs, Jan; Pérez Ruiz, Alexander; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; García Hidalgo, Néstor (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    This paper presents the software tool used at the Institute of Industrial and Control Engineering (IOC-UPC) for teaching and research in robot motion planning. The tool allows to cope with problems with one or more robots, ...
  • Enhanced high frequency injection algorithm for sensorless Sliding Mode Control PMSM drives 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Arias Pujol, Antoni (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    A high frequency injection (HF) based sensorless Sliding Mode Control (SMC) for Permanent Magnet Synchronous Machines (PMSMs) is presented. An analytical analysis, which demonstrates that the HF band is perturbed under ...
  • Fixed switching frequency sliding mode control using an hysteresis band controller 

    Repecho del Corral, Víctor; Biel Solé, Domingo; Fossas Colet, Enric (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Restricted access - publisher's policy
    This paper presents a hysteresis band controller in charge of fixing the switching frequency of a sliding mode controller. The proposed control measures the switching period of the control signal and modifies the hysteresis ...
  • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

    Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference lecture
    Open Access
    The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...
  • Cascade sliding mode-PID controller for a coupled-inductor boost converter 

    Carrero Candelas, Niliana Andreina; Batlle Arnau, Carles; Fossas Colet, Enric (2013)
    Conference lecture
    Restricted access - publisher's policy
    In this paper, a coupled-inductor Boost converter is modelled as a piece-wise complementarity system and controlled by means of two loops: a sliding mode control inner loop and an experimentally tuned PID outer loop control. ...

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