Exploració per autor "Pérez Gracia, Alba"
Ara es mostren els items 21-40 de 53
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Dimensional Synthesis of One-Jointed Multi-Fingered Hands
(Springer, 2015)
Text en actes de congrés
Accés restringit per política de l'editorialWristed, multi-fingered hands can be designed for specific tasks, leading to an optimized performance and simplicity. In this work we present the design of the simplest family of multi-fingered hands, with one revolute ... -
Dimensional Synthesis of RPC Serial Robots
(2003)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a synthesis methodology for the RPC serial robot. This robot has a four dimensional configuration space that can be generated by specifying a finite set of goal positions. The methodology uses the ... -
Dimensional Synthesis of Wristed Binary Hands
(2016-04)
Article
Accés obertThe kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Even though traditionally wrists and hands have been designed separately, ... -
Dual Quaternion Synthesis of a Parallel 2-TPR Robot
(2002)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents the dual quaternion synthesis methodology for constrained parallel robots. This methodology uses the dual quaternion form of the kinematics of supporting serial chains as design equations. Given a set ... -
Dual Quaternion Synthesis of Constrained Robots
(Springer, 2002)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper presents a synthesis methodology for robots that have less than six degrees of freedom, termed constrained robots. The goal is to determine the physical parameters of the chain that fit its workspace to a given ... -
Exact Workspace Synthesis for RCCR Linkages
(Springer, 2013)
Text en actes de congrés
Accés restringit per política de l'editorialA tool for the exact kinematic synthesis of a given workspace may be of interest when designing closed linkages. In these cases, finite-position synthesis cannot ensure smoothness of motion between task positions. In order ... -
Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms
(American Society of Mechanical Engineers (ASME), 2004)
Text en actes de congrés
Accés restringit per política de l'editorialThe paper presents the kinematic synthesis of a symmetric parallel platform supported by three RRS serial chains. The dimensional synthesis of this three degree-of-freedom system is obtained using design equations for each ... -
Grasping unknown objects in clutter by superquadric representation
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertIn this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object ... -
Humanoid synthesis using clifford algebra
(IEEE, 2006)
Text en actes de congrés
Accés obertOne of the challenges in the simulation of human motion, either applied to humanoid robots or avatars in virtual environments, is to design a kinematics structure and a set of joint trajectories that move a robot or avatar ... -
In-Hand Manipulative Synthesis Using Velocity Subspaces
(Springer, 2016)
Text en actes de congrés
Accés restringit per política de l'editorialThe kinematic design of robots for tasks involving positions and its derivatives has been explored in the past in order to shape the trajectory of the robot at a given set of points. This approach has been successful for ... -
Inverse Kinematics Using a Converging Paths Algorithm
(Springer Nature, 2020)
Text en actes de congrés
Accés restringit per política de l'editorialThis article presents a numerical method for the inverse kinematics of serial chains by utilizing dual quaternion formulation of the robot kinematics within a converging paths algorithm. The method is inspired by iterative ... -
Kinematic synthesis for smart hand prosthetics
(IEEE Press. Institute of Electrical and Electronics Engineers, 2006)
Text en actes de congrés
Accés obertThe dream of a bionic replacement appendage is becoming reality through the use of mechatronic prostheses that utilize the body’s myoelectric signals. This paper presents a process to accurately capture the motion of ... -
Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
(Springer, 2012)
Text en actes de congrés
Accés obertIn this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain ... -
Link-based Performance Optimization of Spatial Mechanisms
(2014-12)
Article
Accés restringit per política de l'editorialIn the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion ... -
Link-based performance optimization of spatial mechanisms
(American Society of Mechanical Engineers (ASME), 2013)
Text en actes de congrés
Accés restringit per política de l'editorialIn the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joints in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle ... -
Mixed Position and Twist Space Synthesis of 3R Chains
(MDPI AG, 2022)
Article
Accés obertMixed-position kinematic synthesis is used to not only reach a certain number of precision positions, but also impose certain instantaneous motion conditions at those positions. In the traditional approach, one end-effector ... -
On Cayley's factorization of 4D rotations and applications
(2017-03-01)
Article
Accés restringit per política de l'editorialA 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ... -
On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices
(2019-05-09)
Article
Accés obertA real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ... -
On Cayley’s Factorization of 3D Rotations and Applications
(Facultat d'Informàtica de Barcelona (UPC), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialA 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ... -
Quantification of Upper-body Synergies: a Case Comparison for Stroke and non-Stroke Victims
(2016)
Text en actes de congrés
Accés restringit per política de l'editorialMotion synergies are principal components of the movement, obtained as combinations of joint degrees of freedom, that account for common postures of the human body. These synergies are usually obtained by capturing the ...
