Now showing items 1-5 of 5

  • Análisis cinemático de robots manipuladores redundantes: Aplicación a los robots Kuka LWR 4+ y ABB Yumi 

    Zaplana Agut, Isiah; Claret, Josep A.; Basañez Villaluenga, Luis (Elsevier, 2018-03)
    Article
    Open Access
    En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular, se deriva la cinemática directa para ambos manipuladores y se resuelve el ...
  • A novel closed-form solution for the inverse kinematics of redundant manipulators through workspace analysis 

    Zaplana Agut, Isiah; Basañez Villaluenga, Luis (2018-03-01)
    Article
    Open Access
    © 2017 Elsevier Ltd This work addresses the inverse kinematic problem for redundant serial manipulators. Its importance relies on its effect in the programming and control of redundant robots. Besides, no general closed-form ...
  • Mobile manipulators as robot co-workers: autonomy and interaction in the human-robot collaboration 

    Rosell Gratacòs, Jan; Nuño, Emmanuel; Claret, Josep A.; Zaplana Agut, Isiah; García Hidalgo, Néstor; Akbari, Aliakbar; Ud Din, Muhayy; Palomo Avellaneda, Leopold; Pérez Ruiz, Alexander; Mas Casals, Orestes Miquel; Basañez Villaluenga, Luis (Comité Español de Automática (CEA-IFAC), 2017)
    Conference lecture
    Restricted access - publisher's policy
    In work environments, the use of dexterous mobile manipulators as co-workers poses several challenges with respect to the human-robot collaboration. On the one hand, its focus is in the autonomy (i.e. the mobile manipulators ...
  • Solving robotic kinematic problems : singularities and inverse kinematics 

    Zaplana Agut, Isiah (Universitat Politècnica de Catalunya, 2018-09-14)
    Doctoral thesis
    Open Access
    Kinematics is a branch of classical mechanics that describes the motion of points, bodies, and systems of bodies without considering the forces that cause such motion. For serial robot manipulators, kinematics consists of ...
  • Teleoperating a mobile manipulator and a free-flying camera from a single haptic device 

    Claret Robert, Josep Arnau; Zaplana Agut, Isiah; Basañez Villaluenga, Luis (Institute of Electrical and Electronics Engineers (IEEE), 2017)
    Conference report
    Open Access
    The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the ...