Now showing items 1-19 of 19

  • 6-D manipulation with aerial towed-cable system 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Cortés, Juan; Ros Giralt, Lluís (2013)
    Conference report
    Open Access
    We propose a new approach for the reliable 6-dimensional quasi-static manipulation of an aerial towed-cable system. The novelty of this approach lies in the combination of results deriving from the static analysis of ...
  • A complete method for workspace boundary determination 

    Bohigas Nadal, Oriol; Ros Giralt, Lluís; Manubens Ferriol, Montserrat (Springer Verlag, 2010)
    Conference report
    Open Access
  • A general method for the numerical computation of manipulator singularity sets 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2014)
    Article
    Open Access
    The 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 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (ASME PRESS, 2013)
    Article
    Restricted access - publisher's policy
    The 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 motion planning approach to 6-D manipulation with aerial towed-cable systems 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan (2013)
    Conference report
    Open Access
    We propose a new approach for the reliable 6-dimensional quasi-static manipulation with aerial towed- cable systems. The novelty of this approach lies in the combination of results deriving from the static analysis of ...
  • An open-source toolbox for motion analysis of closed-chain mechanisms 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (Springer, 2013)
    Conference report
    Open Access
    Many 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), ...
  • A unified method for computing position and orientation workspaces of general Stewart platforms 

    Bohigas Nadal, Oriol; Ros, LLuís; Manubens Ferriol, Montserrat (2011)
    Conference report
    Open Access
    The 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 ...
  • Computing wrench-feasible paths for cable-driven hexapods 

    Bohigas, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2015)
    External research report
    Open Access
    Motion 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 ...
  • Cusp points in the parameter space of degenerate 3-RPR planar parallel manipulators 

    Manubens Ferriol, Montserrat; Moroz, Guillaume; Chablat, Damien; Wenger, Philippe; Rouillier, Fabrice (ASME PRESS, 2012)
    Article
    Restricted access - publisher's policy
    This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing ...
  • Minimal canonical comprehensive Gröbner systems 

    Manubens Ferriol, Montserrat; Montes Lozano, Antonio (2009)
    Article
    Open Access
    This is the continuation of Montes' paper "On the canonical discussion of polynomial systems with parameters''. In this paper, we define the Minimal Canonical Comprehensive Gröbner System of a parametric ideal and fix under ...
  • Motion planning for 6D manipulation with aerial towed-cable systems 

    Manubens Ferriol, Montserrat; Devaurs, Didier; Ros Giralt, Lluís; Cortés, Juan (2013)
    Conference report
    Open Access
    Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static ...
  • Navigating the wrench-feasible C-space of cable-driven hexapods 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
    Conference report
    Open Access
    Motion 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 of manipulator singularities 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
    Conference report
    Open Access
    This 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 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2013)
    Conference report
    Open Access
    This 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 ...
  • Planning singularity-free force-feasible paths on the Stewart platform 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (Springer, 2012)
    Conference report
    Open Access
    This 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 

    Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (2013)
    Article
    Open Access
    This 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 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2016-04-01)
    Article
    Open Access
    Motion 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 ...
  • Singularities of non-redundant manipulators: a short account and a method for their computation in the planar case 

    Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2013)
    Article
    Open Access
    The study of the singularity set is of utmost utility in understanding the local and global behavior of a manipulator. After reviewing the mathematical conditions that characterize this set, and their kinematic and geometric ...
  • The CUIK suite: analyzing the motion closed-chain multibody systems 

    Porta Pleite, Josep Maria; Ros Giralt, Lluís; Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Rosales Gallegos, Carlos; Jaillet, Leonard Georges (2014)
    Article
    Open Access
    Many situations in robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or ...