Exploració per autor "Bordalba Llaberia, Ricard"
Ara es mostren els items 1-9 de 9
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A randomised kinodynamic planner for closed-chain robotic systems
(Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
Article
Accés obertKinodynamic 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, ... -
A randomized kinodynamic planner for closed-chain robotic systems
(2019)
Report de recerca
Accés obertKinodynamic 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, like parallel robots, cooperating ... -
A singularity-robust LQR controller for parallel robots
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertParallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ... -
Direct collocation methods for trajectory optimization in constrained robotic systems
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Accés obertDirect collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the ... -
Kinodynamic planning and control of closed-chain robotic systems
(2021-10-29)
Tesi
Accés obertThis work proposes a methodology for kinodynamic planning and trajectory control in robots with closed kinematic chains. The ability to plan trajectories is key in a robotic system, as it provides a means to convert ... -
Kinodynamic planning on constraint manifolds
(2017)
Report de recerca
Accés obertThis report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ... -
Randomized kinodynamic planning for cable-suspended parallel robots
(Springer, 2017)
Text en actes de congrés
Accés obertThis paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and ... -
Randomized kinodynamic planning for constrained systems
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertKinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, ... -
Randomized planning of dynamic motions avoiding forward singularities
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertForward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded ...
