Exploració per autor "Thomas, Federico"
Ara es mostren els items 21-40 de 87
-
A wire-based active tracker
(IEEE, 2008)
Article
Accés obertWire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the ... -
A wrench-sensitive touch pad based on a parallel structure
(2008)
Text en actes de congrés
Accés obertMany different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ... -
A wrench-sensitive touch pad based on a parallel structure
(IEEE, 2008)
Text en actes de congrés
Accés obertMany different robotic in-parallel structures have been conceived as six-component force sensors. In general, they perform well for most applications but, when accuracy is a must, two main limitations arise. First, in most ... -
Accurate computation of quaternions from rotation matrices
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertThe main non-singular 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 ... -
Analysing the singularities of 6-SPS parallel robots using virtual legs
(LIRMM, 2008)
Text en actes de congrés
Accés obertA virtual leg in a 6-SPS parallel robot is defined as a leg whose length is determined by the lengths of a subset of the actual legs of the robot. This necessarily implies that this subset of legs defines a rigid subassembly. ... -
Application of distance geometry to tracing coupler curves of pin-jointed linkages
(ASME PRESS, 2013)
Article
Accés restringit per política de l'editorialIn general, high-order coupler curves of single-degree-of-freedom plane linkages cannot be properly traced by standard predictor–corrector algorithms due to drifting problems and the presence of singularities. Instead of ... -
Approaching dual quaternions from matrix algebra
(2014)
Article
Accés obertDual quaternions give a neat and succinct way to encapsulate both translations and rotations into a unified representation that can easily be concatenated and interpolated. Unfortunately, the combination of quaternions and ... -
Approximating displacements in R^3 by rotations in R^4 and its application to pointcloud registration
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Accés obertNo 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 ... -
Architectural singularities of a class of pentapods
(2011)
Article
Accés obertA pentapod is usually defined as a 5-degrees-of-freedom fully-parallel manipulator with an axial spindle as moving platform. This kind of manipulators has revealed as an interesting alternative to serial robots handling ... -
Architecture singularities in flagged parallel manipulators
(IEEE, 2008)
Text en actes de congrés
Accés obertFlagged manipulators are of interest because they are the only Stewart-Gough platforms for which a cell decomposition of their singularity loci is available. Here we show that the known family of such manipulators can be ... -
Box approximations of planar linkage configuration spaces
(ASME International, 2007)
Article
Accés obertThis paper presents a numerical method able to compute all possible configurations of planar linkages. The procedure is applicable to rigid linkages (i.e., those that can only adopt a finite number of configurations) and ... -
Clifford Algebra Representation of Grasping and Manipulative Hand Actions for Kinematic Synthesis
(Facultat d'Informàtica de Barcelona (UPC), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialThe dimensional synthesis of wristed, multi-fingered hands for simultaneous tasks of all fingertips is an active field of research. When defining unconstrained positions for the fingers, this problem is solved by equating ... -
Clifford’s identity and generalized Cayley-Menger determinants
(Springer Nature, 2020)
Text en actes de congrés
Accés obertDistance geometry is usually defined as the characterization and study of point sets in Rk, the k-dimensional Euclidean space, based on the pairwise distances between their points. In this paper, we use Clifford’s identity ... -
Closed-form position analysis of variable geometry trusses
(2017-03-01)
Article
Accés obertVariable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent ... -
Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method
(ASME PRESS, 2011)
Article
Accés restringit per política de l'editorialThe exact position analysis of a planar mechanism reduces to compute the roots of its characteristic polynomial. Obtaining this polynomial almost invariably involves, as a first step, obtaining a system of equations derived ... -
Closure polynomials for strips of tetrahedra
(Springer, 2016)
Text en actes de congrés
Accés obertA tetrahedral strip is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. Unless any of the tetrahedra degenerate, such a truss is rigid. In this case, ... -
Complete maps of molecular-loop conformational spaces
(John Wiley & Sons, Inc., 2007)
Article
Accés obertThis paper presents a numerical method to compute all possible conformations of distance-constrained molecular loops, i.e., loops where some interatomic distances are held fixed, while others can vary. The method is general ... -
Concise proof of Tienstra's formula
(2009)
Article
Accés obertThe resection problem consists in finding the location of an observer by measuring the angles sub-tended by lines of sight from this observer to three known stations. Many researchers and practitioners recognize that ... -
Distance bound smoothing under orientation constraints
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Text en actes de congrés
Accés obertDistance Bound Smoothing (DBS) is a basic operation originally developed in Computational Chemistry to determine point configurations that are within certain pairwise ranges of distances. This operation consist in the ... -
Distance geometry in active structures
(Springer, 2018)
Capítol de llibre
Accés obertDistance constraints are an emerging formulation that offers intuitive geometrical interpretation of otherwise complex problems. The formulation can be applied in problems such as position and singularity analysis and path ...
