Now showing items 1-6 of 6

    • A randomized kinodynamic planner for closed-chain robotic systems 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (2019)
      External research report
      Open Access
      Kinodynamic 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 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Open Access
      Parallel 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 ...
    • Kinodynamic planning on constraint manifolds 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
      External research report
      Open Access
      This 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 

      Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Springer, 2017)
      Conference report
      Open Access
      This 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 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Open Access
      Kinodynamic 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 

      Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Springer International Publishing, 2018)
      Conference report
      Open Access
      Forward 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 ...