Browsing by Author "Sarabandi, Soheil"
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A fast branchandprune algorithm for the position analysis of spherical mechanisms
Shabani, Arya; Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Springer, 2019)
Conference report
Open AccessDifferent branchandprune schemes can be found in the literature for numerically solving the position analysis of spherical mechanisms. For the prune operation, they all rely on the propagation of motion intervals. They ... 
A reconfigurable asymmetric 3UPU parallel robot
Sarabandi, Soheil; Grosch Obregon, Patrick John; Porta Pleite, Josep Maria; Thomas, Federico (2018)
Conference report
Open AccessParallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some ... 
A survey on the computation of quaternions from rotation matrices
Sarabandi, Soheil; Thomas, Federico (ASME PRESS, 20190401)
Article
Open AccessThe parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer ... 
Accurate computation of quaternions from rotation matrices
Sarabandi, Soheil; Thomas, Federico (Springer International Publishing, 2018)
Conference report
Open AccessThe main nonsingular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While ... 
Approximating displacements in R^3 by rotations in R^4 and its application to pointcloud registration
Sarabandi, Soheil; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Open AccessNo proper norm exists to measure the distance between two object poses essentially because a general pose is defined by a rotation and a translation, and thus it involves magnitudes with different units. As a means to solve ... 
Handeye calibration made easy through a closedform twostage method
Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Open AccessAn analysis of the existing handeye 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 ... 
On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices
Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (20190509)
Article
Open AccessA real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left and a rightisoclinic rotation matrix. This operation, known as Cayley's factorization, directly ... 
Singularityfree computation of quaternions from rotation matrices in E4 and E3
Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2018)
Conference report
Open AccessA real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a leftisoclinic and a rightisoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ... 
Solving the nearest rotation matrix problem in three and four dimensions with applications in robotics
Sarabandi, Soheil (Universitat Politècnica de Catalunya, 20210427)
Doctoral thesis
Open AccessSince the map from quaternions to rotation matrices is a 2to1 covering map, this map cannot be smoothly inverted. As a consequence, it is sometimes erroneously assumed that all inversions should necessarily contain ... 
Yet a better closedform formula for the 3D nearest rotation matrix problem
Wu, Jin; Sarabandi, Soheil; Porta Pleite, Josep Maria; Liu, Ming; Thomas, Federico (2021)
Research report
Open AccessThis 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 ...