Now showing items 1-20 of 59

  • A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms 

    Grosch Obregon, Patrick John; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2013)
    Conference report
    Open Access
    This paper deals with the motion planning problem for parallel orienting platforms with one non-holonomic joint and two prismatic actuators which can maneuver to reach any three-degree-of-freedom pose of the moving platform. ...
  • A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot 

    Stancu, Alexandru; Codres, Eduard; Puig Cayuela, Vicenç (IEEE Press, 2016)
    Conference report
    Open Access
    When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant ...
  • 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 multi-robot cooperation strategy for dexterous task oriented teleoperation 

    Hernansanz Prats, Alberto; Casals Gelpi, Alicia; Amat Girbau, Josep (2015-06-01)
    Article
    Open Access
    The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of ...
  • Análisis del rendimiento de un sistema robótico de control en red basado en simulación 

    Paillacho Chiluiza, Dennys Fabian (Universitat Politècnica de Catalunya, 2010-06)
    Master thesis
    Open Access
    Debido a la dificultad de evaluar el rendimiento global de un sistema robótico de control en red de manera analítica, el presente trabajo trata el análisis del comportamiento de un sistema robótico de control en red, tanto ...
  • A new multi-criteria optimization strategy for shared control in wheelchair assisted navigation 

    Sandoval, Francisco; Caltagirone, Carlo; Annicchiarico, Roberta; Cortés García, Claudio Ulises; Urdiales García, Cristina; Peula, José Ma.; Fernández-Carmona, Manuel; Barrué Subirana, Cristian; Pérez, Eduardo J.; Sánchez-Tato, Isabel; del Toro, J.C.; Galluppi, F. (2011-02-01)
    Article
    Restricted access - publisher's policy
    In todays aging society, many people require mobility assistance, that can be provided by robotized assistive wheelchairs with a certain degree of autonomy when manual control is unfeasible due to disability. Robot ...
  • Application of JXTA-overlay platform for secure robot control 

    Spaho, Evjola; Matsuo, Keita; Barolli, Leonard; Xhafa Xhafa, Fatos; Arnedo Moreno, Joan; Kolici, Vladi (2010)
    Article
    Open Access
    In this paper, we present the evaluation and experimental results of secured robot control in a P2P system. The control system is based on JXTA-Overlay platform. We used secure primitives and functions of JXTA-Overlay for ...
  • A secure JXTA-overlay platform for robot control 

    Spaho, Evjola; Matsuo, Keita; Barolli, Leonard; Arnedo Moreno, Joan; Xhafa Xhafa, Fatos; Kolici, Vladi (Institute of Electrical and Electronics Engineers (IEEE), 2010)
    Conference report
    Open Access
    Due to the improvement of connections capabilities of end-devices there is an increasing interest to design and implement full featured P2P networks that integrate end-devices. In this paper, we use JXTA-Overlay for the ...
  • Automatic Email Management using RPA (Robotic Process Automation) and AI (Artificial Intelligence) 

    Olivella Farell, Telm (Universitat Politècnica de Catalunya, 2019-01)
    Bachelor thesis
    Restricted access - confidentiality agreement
  • Batch gating for data association in monocular SLAM 

    Guerra Paradas, Edmundo; Munguía Alcalá, Rodrigo Francisco; Bolea Monte, Yolanda; Grau Saldes, Antoni (Trans Tech Publications, 2013-05-27)
    Article
    Restricted access - publisher's policy
    This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) ...
  • Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays 

    Nuño, Emmanuel; Valle, Daniela; Sarras, Ioannis; Basañez Villaluenga, Luis (2013)
    Conference report
    Restricted access - publisher's policy
    Abstract—It is widely known that the problem of controlling a rigid bilateral teleoperator with time-delays has been effectively addressed since the late 80’s. However, the control of flexible joint manipulators in a ...
  • Centro de mecanizado robotizado Schunk 

    Armayones Ordoñez, Adrian (Universitat Politècnica de Catalunya, 2016)
    Bachelor thesis
    Open Access
    En aquest projecte es dissenya i programa una cèl·lula de mecanitzat robotitzat. La cèl·lula integra un robot central que interactua amb diferents estacions de treball. La finalitat del projecte és que el client amb la ...
  • Combining motion planning and task planning for a dual-arm system 

    Rodríguez Pacheco, Carlos; Suárez Feijóo, Raúl (2016)
    Conference report
    Open Access
    This paper deals with the problem of combining motion and task assignment for a dual-arm robotic system. Each arm of the system performs independent tasks in a cluttered environment. Robot actions are ...
  • Competició remota supervisada de robots mòbils 

    Català Antúnez, Albert (Universitat Politècnica de Catalunya, 2007-06-25)
    Master thesis (pre-Bologna period)
    Open Access
  • Concurrent initialization for Bearing-Only SLAM 

    Munguía Alcalá, Rodrigo Francisco; Grau Saldes, Antoni (2010-03-01)
    Article
    Open Access
    Simultaneous Localization and Mapping (SLAM) is perhaps the most fundamental problem to solve in robotics in order to build truly autonomous mobile robots. The sensors have a large impact on the algorithm used for SLAM. ...
  • Consensus of networks of nonidentical robots with flexible joints, variable time--delays and unmeasurable velocities 

    Valle, Daniela; Nuño, Emmanuel; Basañez Villaluenga, Luis; Arana Daniel, Nancy (2013)
    Conference report
    Restricted access - publisher's policy
    The present paper proposes two controllers for solving a consensus problem to a given desired position of networks composed of a class of under actuated mechanical systems: flexible joints robots. One of the controllers ...
  • Construcción de un micro brazo articulado: parte electrónica 

    Estévez Afonso, Francisco Javier (Universitat Politècnica de Catalunya, 2016-09-05)
    Bachelor thesis
    Open Access
    Este proyecto tiene como objeto de estudio un micro brazo robótico basado en una paletizadora de la empresa ABB. El estudio describe el proceso de diseño e implementación de la electrónica necesaria para su correcto control ...
  • Control de un manipulador cartesiano 

    Cava Jiménez, Daniel (Universitat Politècnica de Catalunya, 2015)
    Master thesis (pre-Bologna period)
    Restricted access - author's decision
    El propósito de este proyecto es el de diseñar e implementar un control tanto de posición como de velocidad de dos actuadores lineales ensamblados formando un eje XY y con un cilindro para emular el eje Z con materiales ...
  • Control of bilateral teleoperators in operational space without velocity measurements 

    Aldana López, Carlos Iván; Nuño, Emmanuel; Basañez Villaluenga, Luis (2013)
    Conference report
    Restricted access - publisher's policy
    This paper proposes a proportional plus damping injection (P + d) controller for bilateral teleoperators in the operational space. Unit quaternions are used to describe the endeffectors’ orientation since they exhibit the ...
  • Control of teleoperators with joint flexibility, uncertain parameters and time-delays 

    Nuño, Emmanuel; Sarras, Ioannis; Basañez Villaluenga, Luis; Kinnaert, Michel (2014)
    Article
    Restricted access - publisher's policy
    The problem of controlling a rigid bilateral teleoperator has been the subject of study since the late 1980s and several control approaches have been reported to deal with time-delays, position tracking and transparency. ...