Now showing items 1-15 of 15

    • A fault-hiding approach for the switching quasi-LPV fault-tolerant control of a four-wheeled omnidirectional mobile robot 

      Rotondo, Damiano; Puig Cayuela, Vicenç; Nejjari Akhi-Elarab, Fatiha; Romera Formiguera, Juli (Institute of Electrical and Electronics Engineers (IEEE), 2015-06-01)
      Article
      Restricted access - publisher's policy
      This paper proposes a reference model approach for the trajectory tracking of a four-wheeled omnidirectional mobile robot. In particular, the error model is brought to a quasi-linear-parameter-varying (LPV) form suitable ...
    • An adaptive controller for nonlinear teleoperators with variable time-delays 

      Sarras, Ioannis; Nuño, Emmanuel; Basañez Villaluenga, Luis (2014-10-01)
      Article
      Restricted access - publisher's policy
      In most real-life bilateral teleoperators the available physical parameters are uncertain and the communications exhibit variable time-delays. In order to confront these situations and only assuming that a bound of the ...
    • An identified LPV model for mobile robots navigation with audio features 

      Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni (2010)
      Conference report
      Open Access
      Non-speech audio is becoming more attractive to be used as features to mobile robots navigation in industrial environments. In this paper authors present their advances in determining robot’s position in indoor spaces ...
    • Consensus in networks of nonidentical Euler-Lagrange systems using P plus d controllers 

      Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis (2013-12)
      Article
      Restricted access - publisher's policy
      This paper presents a proportional plus damping controller that can asymptotically drive a network composed of N nonidentical Euler-Lagrange (EL) systems toward a consensus point. The agents can be fully actuated or can ...
    • Control de movimiento de un robot móvil omnidireccional 

      Magnabosco, Luca (Universitat Politècnica de Catalunya, 2012-09)
      Master thesis (pre-Bologna period)
      Open Access
      Los robots m´oviles Omnidireccionales son cada vez m´as populares debido a su mayor movilidad. Comparados a los m´as com´unes “car-like robots”, tienen una agilidad superior para moverse hacia cualquier posici´on y ...
    • Control simulation of a line tracker vehicle using Gazebo 

      Lloses Miró, Joel (Universitat Politècnica de Catalunya, 2017-06-15)
      Bachelor thesis
      Open Access
      The process of designing the control strategy for mobile robots may turn into a difficult task as can appear difficult dynamisms on a mechanical an electronic level that are difficult to model and, besides, its testing ...
    • cRRT*: Planning loosely-coupled motions for multiple mobile robots 

      Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2014)
      Conference lecture
      Open Access
      The planning of collision-free paths of a team of mobile robots involves many degrees of freedom and therefore the use of sampling-based methods is a good alternative. Among them, the RRT planner has been proposed to cope ...
    • Disseny d’un braç robòtic per a classificar els residus derivats d’un procés industrial 

      Goldsmits Ybarra, Sergi (Universitat Politècnica de Catalunya, 2023-02-02)
      Bachelor thesis
      Open Access
      Aquest TFG dissenya un braç robòtic modelat per que compleixi una funcionalitat específica: que pugui classificar o seleccionar determinats objectes (en aquest cas residus), agafar-los i seguidament deixar- los en un ...
    • Estudi, control i optimització d’un LEGO Segway 

      Llevat Pàmies, David (Universitat Politècnica de Catalunya, 2015-07)
      Bachelor thesis
      Open Access
      Al llarg d’aquesta memòria es desenvolupa l’estudi per a construir, controlar i optimitzar el comportament d’un Segway, o pèndul invertit de dues rodes, mitjançant els components cedits per la companyia de joguines LEGO ...
    • Evaluation of three vision based object perception methods for a mobile robot 

      Ramisa Ayats, Arnau; Aldavert Miró, David; Vasudeban, Shrihari; Toledo Morales, Ricardo; López de Mantaras, Ramon (2012)
      Article
      Open Access
      This paper addresses visual object perception applied to mobile robotics. Being able to perceive household objects in unstructured environments is a key capability in order to make robots suitable to perform complex tasks ...
    • Grasp synthesis of 3D articulated objects with n links 

      Alvarado Tovar, Noé; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2016)
      Conference report
      Restricted access - publisher's policy
      This paper addresses the problem of grasp synthesis with force-closure for 3D articulated objects consisting of n links and considering frictional and non-frictional contacts. The surface of each link is represented by a ...
    • Planning manipulation movements of a dual-arm system considering obstacle removing 

      Rodríguez Pacheco, Carlos; Montaño Sarria, Andrés Felipe; Suárez Feijóo, Raúl (2014-12-01)
      Article
      Open Access
      The paper deals with the problem of planning movements of two hand-arm robotic systems, considering the possibility of using the robot hands to remove potential obstacles in order to obtain a free access to grasp a desired ...
    • Planning wrench-feasible motions for cable-driven hexapods 

      Bohigas Nadal, Oriol; Manubens Ferriol, Montserrat; Ros Giralt, Lluís (2016-04-01)
      Article
      Open Access
      Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to ...
    • Stability of nonlinear teleoperators using PD controllers without velocity measurements 

      Nuño, Emmanuel; Basañez Villaluenga, Luis; Lopez Franco, Carlos; Arana Daniel, Nancy (2014-01)
      Article
      Restricted access - publisher's policy
      This paper presents two Proportional-Derivative (PD) like controllers for nonlinear bilateral teleoperation systems. Compared to previous controllers of this kind, these schemes do not make use of velocity measurements. ...
    • Técnica de localización de móviles en plantas industriales basada en el estudio de señales de audio estacionarias 

      Manzanares Brotons, Manuel; Bolea Monte, Yolanda; Grau Saldes, Antoni (Secretariado de Publicaciones e Intercambio científico. Universidad de Valladolid, 2009-09)
      Conference report
      Open Access
      En este artículo se presenta un nuevo método para la localización de robots móviles. La determinación de la posición se basa en el uso de fuentes estáticas de sonido las cuales emiten periódicamente. A través del aprendizaje ...