Now showing items 1-20 of 38

    • 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 Versatile Gripper for Cloth Manipulation 

      Donaire Cónsul, Sònia; Borràs Sol, Júlia; Alenyà Ribas, Guillem; Torras, Carme (Institute of Electrical and Electronics Engineers (IEEE), 2020-10)
      Article
      Restricted access - publisher's policy
      Cloth manipulation has been mostly advancing in perception and modeling methods for cloth state estimation and grasping point detection. In comparison, less attention has been put on end-effector design. Indeed, most ...
    • 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; García, Nestor (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 ...