Now showing items 1-20 of 37

  • 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 wrench-sensitive touch pad based on a parallel structure 

    Frigola Alcalde, Roger; Ros Giralt, Lluís; Roure Fernández, Francisco; Thomas, Federico (IEEE, 2008)
    Conference report
    Open Access
    Many 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 ...
  • Célula robotizada paletizadora 

    Navarro Fernández, Marc (Universitat Politècnica de Catalunya, 2015-10-21)
    Bachelor thesis
    Restricted access - author's decision
  • Construcció d'un micro braç articulat: Part mecànica 

    Ferré Domènech, Guillem (Universitat Politècnica de Catalunya, 2016-09-05)
    Bachelor thesis
    Open Access
    Construcció d'un micro braç articulat: Part mecànica
  • Control adaptatiu per al robot manipulador KUKA Light Weight Robot 4+ 

    Ejarque Montalvo, Ricard (Universitat Politècnica de Catalunya, 2014-10)
    Master thesis (pre-Bologna period)
    Open Access
    La flexibilitat en els processos i la versatilitat de les eines disponibles s’han convertit en un requeriment a la indústria en l’actualitat. En l’àmbit dels robots manipuladors aquesta necessitat té resposta amb la ...
  • Control of a robotic arm using an Omega 2+ module 

    Vazquez Navarro, Daniel (Universitat Politècnica de Catalunya, 2018-01-18)
    Bachelor thesis
    Open Access
    The aim of this project has been to introduce the Omega2 [1] module in the Department of Electronic Engineering (EEL) at ETSEIB. This project can beneficial for further students who want to use the module as this report ...
  • Cooperative distributed pick and place algorithm for mobile manipulators with camera feedback 

    Capo Fuster, Marc (Universitat Politècnica de Catalunya, 2019-09-10)
    Master thesis
    Open Access
    Covenantee:  Rijksuniversiteit Groningen
    The main goal of this research is to perform a pick and place task done by several mobile robots equipped with a robotic arm by using a distributed algorithm and a formation control law for keeping the shape. Nowadays, the ...
  • Determinació de la posició i orientació d’un robot manipulador mòbil multidireccional mitjançant hodometria 

    Ruiz Parra, Sergi (Universitat Politècnica de Catalunya, 2013-02)
    Master thesis (pre-Bologna period)
    Open Access
    Les plataformes omnidireccionals són cada vegada més populars perquè permeten dotar de desplaçament a robots manipuladors. El desenvolupament del projecte està basat en la BMM, una plataforma del IOC dissenyada per ...
  • Determining independent contacts regions to immobilize 2D articulated objects 

    Alvarado, Noe; Suárez Feijóo, Raúl; Roa, Máximo (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference lecture
    Restricted access - publisher's policy
    This paper deals with the problem of determining independent contacts regions (ICRs) on 2D articulated objects, such that a finger contact in each region guarantees a forceclosure (FC) immobilization, independently of the ...
  • Development and integration of algorithms for manipulation with dual-arm robot systems 

    Rodoreda Perales, Carlos (Universitat Politècnica de Catalunya, 2017-09-13)
    Master thesis
    Open Access
    Nowadays, a remarkable development in the automation field is happenning worldwide, in order to allow to have the most heavy works done by machines. In this topic, it is starting to be seen the implementation of dual arm ...
  • Development of local geometrical planning for omni-directional robot 

    Chialà, Francesco (Universitat Politècnica de Catalunya, 2019-10-09)
    Master thesis
    Open Access
    The goal of this work is the development of an obstacle avoidance algorithm for the mobile platform of the Mobile Anthropomorphic Dual-Arm Robot (MADAR), designed by the Institute of Industrial and Control Engineering (IOC) ...
  • Differential flatness of a class of n-DOF planar manipulators driven by 1 or 2 actuators 

    Franch Bullich, Jaume; Agrawal, Sunil K.; Sangwan, Vivek (2010-02)
    Article
    Open Access
    A fully actuated system can execute any joint trajectory. However, if a system is under-actuated, not all joint trajectories are attainable. The authors have actively pursued novel designs of under-actuated robotic arms ...
  • Disseny d'un sistema robòtic d'escaneig, marcat i polit de superfícies en un entorn industrial 

    Pàmias Prohias, Maurici (Universitat Politècnica de Catalunya, 2014-11)
    Master thesis (pre-Bologna period)
    Open Access
    L’objectiu del projecte és el desenvolupament d’un sistema autònom d'escaneig, polit i marcat de superfícies, dins el marc del procés industrial de l'acabat en la fabricació de peces de grans dimensions. Per al desenvolupament ...
  • Disseny i implantació d'un braç de càrrega 

    Centell Ollé, Ignacio (Universitat Politècnica de Catalunya, 2019-05-27)
    Bachelor thesis
    Restricted access - author's decision
    Aquest projecte consta del disseny i implantació d’una planta de carrega de fluid formada per tres braços. Partint de referències de projectes anteriors es planteja fer una millora en concepte de disseny de peces, estructura ...
  • Disseny i prototipatge d’un braç robòtic destinat a l’oci controlat per Arduino 

    Domènech Masferrer, Joan (Universitat Politècnica de Catalunya, 2016-01)
    Bachelor thesis
    Restricted access - author's decision
    El present projecte neix amb la voluntat i el desig d’aprofundir en el coneixement de tres potents branques de l’enginyeria com són la mecànica, l’electrònica i la informàtica a partir del desenvolupament d’un producte ...
  • Dual-arm dexterous mobile manipulator with new omnidirectional wheels manipulador móvil, bibrazo y diestro con nuevas ruedas omnidireccionales 

    Suárez Feijóo, Raúl; Palomo Avellaneda, Leopold; Martínez Miralles, Jordi Ramon; Clos Costa, Daniel (2020-01-01)
    Article
    Open Access
    Este artículo describe un manipulador móvil, bimanual y con capacidad de manipulación diestra denominado MADAR (de Mobile Anthropomorphic Dual-Arm Robot). Básicamente puede dividirse en dos partes, una base móvil y una ...
  • Force control for robotic manipulators by controller scheduling 

    Pérez Plius, Mireia (Universitat Politècnica de Catalunya / Sabanci Universitesi, 2009)
    Master thesis (pre-Bologna period)
    Restricted access - author's decision
    Force control of robotic manipulators is becoming more and more important in applications that involve interaction with the environment. Depending on the nature of the task at hand, different control algorithms can be ...
  • Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study 

    Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (2009)
    Conference report
    Restricted access - publisher's policy
    It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair ...
  • Getting comfortable hand configurations while manipulating an object 

    Montaño, Andrés; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
    Conference report
    Open Access
    The paper presents an approach to manipulate unknown objects based on tactile information and force feedback. The object manipulation is performed using two fingers of the Shunck Dexterous Hand, which is equipped with ...
  • Grasp analysis and synthesis of 2D articulated objects with 2 and 3 links 

    Alvarado Tovar, Noé; Suárez Feijóo, Raúl (2013)
    Conference report
    Open Access
    This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with 2 and 3 links considering frictionless contacts. The boundary of each link of the object is represented with a ...