KRD - Cinemàtica i Disseny de Robots: Enviaments recents

Ara es mostren els items 1-12 de 58

    • Collocation methods for second order systems 

      Moreno Martín, Siro; Ros Giralt, Lluís; Celaya Llover, Enric (2022)
      Text en actes de congrés
      Accés obert
      Collocation methods for numerical optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form x¿ = f(x, u, t), where x is the state and u the control vector. However, in many ...

    • Kinematics of a gear-based spherical mechanism 

      Thomas, Federico (Springer, 2022)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Kazuki Abe and his collaborators have recently presented an actuated gear-based spherical mechanism called ABENICS. It has received a lot of attention, not only because of its eye-catching motions during operation, but ...

    • The distance geometry of the generalized lobster’s arm 

      Thomas, Federico; Porta Pleite, Josep Maria (Springer, 2022)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      This paper proposes a distance-based formulation to solve the inverse kinematics of what is known as the generalized Lobster's arm: a 6R serial chain in which all consecutive revolute axes intersect. Since the solution of ...

    • Model predictive control for a Mecanum-wheeled robot navigating among obstacles 

      Moreno Caireta, Iñigo; Celaya Llover, Enric; Ros Giralt, Lluís (Elsevier, 2021)
      Text en actes de congrés
      Accés obert
      Mecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, ...

    • Hand-eye calibration made easy through a closed-form two-stage method 

      Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2022)
      Article
      Accés obert
      An analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail ...

    • Second order collocation 

      Celaya Llover, Enric (2021)
      Report de recerca
      Accés obert
      Collocation methods for optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form dx/dt = f(x, u, t), where x is the state and u the control vector. However, in many cases, the ...

    • Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector 

      Marchi, Tommaso; Mottola, Giovanni; Porta Pleite, Josep Maria; Thomas, Federico; Carricato, Marco (2021)
      Article
      Accés obert
      Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic ...

    • Androgenic activation, impairment of the monoaminergic system and altered behavior in zebrafish larvae exposed to environmental concentrations of fenitrothion 

      Faria, Melissa; Prats, Eva; Rosas Ramírez, Jonathan Ricardo; Bellot, Marina; Bedrossiantz, Juliette; Pagano, Maria; Valls Brusco, Arnau; Gomez Canela, Cristian; Porta Pleite, Josep Maria; Mestres, Jordi; Garcia Reyero, Natalia; Faggio, Caterina; Gómez Oliván, Leobardo Manuel; Raldúa Pérez, Demetrio José (Elsevier, 2021)
      Article
      Accés obert
      Fenitrothion is an organophosphorus insecticide usually found in aquatic ecosystems at concentrations in the range of low ng/L. In this manuscript we show that 24 h exposure to environmental concentrations of fenitrothion, ...

    • Yet a better closed-form formula for the 3D nearest rotation matrix problem 

      Wu, Jin; Sarabandi, Soheil; Porta Pleite, Josep Maria; Liu, Ming; Thomas, Federico (2021)
      Report de recerca
      Accés obert
      This technical report complements the results recently presented in [1] showing that they can be extended to define an efficient and robust method to determine the rotation matrix nearest to an arbitrary 3 × 3 matrix. This ...

    • A branch-and-prune method to solve closure equations in dual quaternions 

      Shabani, Arya; Porta Pleite, Josep Maria; Thomas, Federico (2021)
      Article
      Accés obert
      Using dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored ...

    • A modification of collocation methods to ensure compatible position and velocity trajectories. Documento técnico del Instituto de Robótica e Informática Industrial 

      Moreno Martín, Siro; Celaya Llover, Enric (2021-05-26)
      Report de recerca
      Accés obert

    • A randomised kinodynamic planner for closed-chain robotic systems 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
      Article
      Accés obert
      Kinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, ...