• 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
    Accés restringit per política de l'editorial
    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 ...
  • Numerical computation of manipulator singularities 

    Bohigas Nadal, Oriol; Zlatanov, Dimiter; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria (IEEE, 2012)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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 ...
  • 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
    Accés obert
    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 ...