Browsing by Author "Bohigas Nadal, Oriol"
Now showing items 1-20 of 22
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A complete method for workspace boundary determination
(Springer Verlag, 2010)
Conference report
Open Access -
A general method for the numerical computation of manipulator singularity sets
(2014)
Article
Open AccessThe analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of ... -
A linear relaxation method for computing workspace slices of the Stewart platform
(ASME PRESS, 2013)
Article
Restricted access - publisher's policyThe workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, this volume is difficult to compute ... -
A singularity-free path planner for closed-chain manipulators
(IEEE, 2012)
Conference report
Open AccessThis paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a ... -
A unified method for computing position and orientation workspaces of general Stewart platforms
(2011)
Conference report
Open AccessThe workspace of a Stewart platform is a complex six- dimensional volume embedded in the Cartesian space defined b y six pose parameters. Because of its large dimension and com- plex shape, such workspace is difficult ... -
An open-source toolbox for motion analysis of closed-chain mechanisms
(Springer, 2013)
Conference report
Open AccessMany situations in Robotics require an effective analysis of the motions of a closed-chain mechanism. Despite appearing very often in practice (e.g. in parallel manipulators, reconfigurable robots, or molecular compounds), ... -
Branch switching from singular points in higher-dimensional continuation
(2011)
Research report
Open AccessWe explain here how to perform branch switching when a singular point is found during higherdimensional continuation on a k-dimensional variety. This document is based on the information given in [1, 2, 3]. -
Elaboració de material didàctic interactiu sobre la situació dels drets humans (II fase)
(2012)
Poster (CCD project)
Open Access -
Fer, altre cop, arquitectura
(Factoria ETSAV, 2012-05-08)
Audiovisual
Open Access -
Martorell Bohigas Mackay
(1985)
Audiovisual
Open AccessEl visionat d'aquest audiovisual és possible gràcies a la col·laboració i autorització del Col·legi Oficial d'Arquitectes de Catalunya. -
Multi-body singularity equations
(2010)
Research report
Open AccessThis technical report explains how to obtain a system of equations that encodes the singularities of a multi-body system with respect to some of its configuration variables. The system is obtained in a way that makes it ... -
Navigating the wrench-feasible C-space of cable-driven hexapods
(Springer, 2012)
Conference report
Open AccessMotion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack ... -
Numerical computation and avoidance of manipulator singularities
(Universitat Politècnica de Catalunya, 2013-05-10)
Doctoral thesis
Open AccessThis thesis develops general solutions to two open problems of robot kinematics: the exhaustive computation of the singularity set of a manipulator, and the synthesis of singularity-free paths between given configurations. ... -
Numerical computation of manipulator singularities
(IEEE, 2012)
Conference report
Open AccessThis paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each ... -
On the numerical classification of the singularities of robot manipulators
(2013)
Conference report
Open AccessThis paper is concerned with the task to obtain a complete description of the singularity set of any given non-redundant manipulator, including the identification and the precise computation of each constituent singularity ... -
Oriol Bohigas
(Palimpsesto, 2011-12)
Article
Open Access -
Planning singularity-free force-feasible paths on the Stewart platform
(Springer, 2012)
Conference report
Open AccessThis paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform ... -
Planning singularity-free paths on closed-chain manipulators
(2013)
Article
Open AccessThis paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains ... -
Planning wrench-feasible motions for cable-driven hexapods
(2016-04-01)
Article
Open AccessMotion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to ... -
Randomized path planning on manifolds based on higher-dimensional continuation
(2012)
Article
Open AccessDespite the significant advances in path planning methods, highly constrained problems are still challeng- ing. In some situations, the presence of constraints defines a configuration space that is a non-parametrizable manifold ...
