Browsing by Subject "Robots -- Motion"
Now showing items 1-20 of 29
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A Fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot
(IEEE Press, 2016)
Conference report
Open AccessWhen 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 ... -
Adaptive motion planning for a mobile robot
(Universitat Politècnica de Catalunya / University of Oulu, 2012)
Master thesis (pre-Bologna period)
Open AccessHistorically, trapezoidal velocity profiles have been widely used to control engines. Nevertheless, the evolution of robots and their uses has led to the need of using smoother profiles, due to the demand of high precision ... -
Analysis and Prediction of Human Motion Trajectories in Urban Environments
(Universitat Politècnica de Catalunya, 2011-09)
Master thesis
Restricted access - author's decisionThe design and development of intelligent service mobile robots that interact with humans in daily living activities or cooperate with persons in specific tasks, requires the design of new tools that allow the understanding ... -
Comparison of motion planners in an environment with removable obstacles
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyThis work deals with the problem of motion planning for a robotic system with two arms, considering the possibility of using one arm to remove potential obstacles in order to get a collision-free path to reach a desired ... -
Computing wrench-feasible paths for cable-driven hexapods
(2015)
Research report
Open AccessMotion 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 ... -
Construcción de un micro brazo articulado: parte electrónica
(Universitat Politècnica de Catalunya, 2016-09-05)
Bachelor thesis
Open AccessEste 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 ... -
Coordination of several robots based on temporal synchronization
(2016-12-01)
Article
Open AccessThis paper proposes an approach to deal with the problem of coordinating multi-robot systems, in which each robot executes individually planned tasks in a shared workspace. The approach is a decoupled method that can ... -
Disseny d’un braç robòtic per a classificar els residus derivats d’un procés industrial
(Universitat Politècnica de Catalunya, 2023-02-02)
Bachelor thesis
Open AccessAquest 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 ... -
Distance-based kernels for dynamical movement primitives
(IOS Press, 2015)
Conference report
Open AccessIn the Anchoring Problem actions and objects must be anchored to symbols; and movement primitives as DMPs seems a good option to describe actions. In the bottom-up approach to anchoring, the recognition of an action is ... -
Dynamic modelling, parameter identification, and motion control of an omnidirectional tire-wheeled robot
(Universitat Politècnica de Catalunya, 2021-05-25)
Master thesis
Open Access
Covenantee: Institut de Robòtica i Informàtica IndustrialIn recent years, autonomous mobile platforms are finding an increasing range of applications in inspection or surveillance tasks, or to the transport of objects, in places such as smartwarehouses, factories or hospitals. ... -
Editorial: current challenges and future developments in robot grasping
(Frontiers Media SA, 2022-07-11)
Article
Open Access -
Estudi, disseny i implementació d’un humanoide pel seguiment de trajectòries
(Universitat Politècnica de Catalunya, 2019-06-10)
Bachelor thesis
Open AccessEls humanoides són robots que posseeixen una configuració similar a la morfologia humana, és a dir, que consten d’un cap, un tronc, dos braços i dues cames (en certs casos els humanoides poden simular-ne sols una ... -
Estudio e implementación de una estación robotizada del juego de 3 en raya usando visión por computador y tecnologías cloud
(Universitat Politècnica de Catalunya, 2022-07-11)
Bachelor thesis
Open AccessEl objetivo final del proyecto que motiva este documento, no es otro más que la programación de un robot colaborativo, de la marca Universal Robots, en concreto el modelo UR3, para que pueda interactuar con un humano y sea ... -
Experimental stiffness identification in the joints of a lightweight robot
(Universitat Politècnica de Catalunya, 2017-06-15)
Bachelor thesis
Open AccessThe estimation of stiffness parameters of a robot is of paramount importance for the precision of movement, in fact in the last year the application of robots is justified by many factors, one of these factors is the high ... -
Fast on-line determination of quasi-optimal grasp configurations based on off-line analysis and parametrization of the wrist position
(2005-01)
Research report
Open AccessDetermining the optimum configuration of a mechanical hand in order to grasp an object is a computational hard work, mainly due to the large number of degrees of freedom (fingers and wrist), the existence of a large number ... -
HG-RRT*: Human-Guided Optimal Random Trees for Motion Planning
(Institute of Electrical and Electronics Engineers (IEEE), 2015)
Conference lecture
Restricted access - publisher's policyThe paper deals with the problem of designing an RRT*-based planning algorithm that allows the user to guide the tree growth in a simple and transparent way. The key idea of the proposal is to create a planning algorithm, ... -
Mesures de proximitat a les singularitats d'un robot amb ndexos de rendiment vectorial
(Universitat Politècnica de Catalunya, 2013-07)
Master thesis (pre-Bologna period)
Open AccessLes con guracions singulars dels robots s on situacions complicades de predir i de localitzar de manera anticipada i, en general, associades a un mal comportament, tot i que tamb e s'apro ta el factor d'ampli caci o que ... -
Millora de la precisió en l'estudi del moviment humà a partir de les dades del Kinect
(Universitat Politècnica de Catalunya, 2014-06-27)
Bachelor thesis
Open Access[CATALÀ] L'objectiu d'aquest projecte és la millora de les dades resultants de les captures del dispositiu Kinect, més concretament les obtingudes representant el cos humà. El propòsit principal és fer l'eina més precisa ... -
Modelo cinemático de la interfase háptica PHANTnOM Premium 1.5/6DOF
(2005-02)
Research report
Open AccessEn el presente reporte se deriva de la cinemática directa e inversa, así como el Jacobiano de la interfase háptica PHANTOM Premium 1.5/6DOF -
Motion planning for high DOF anthropomorphic hands
(IEEE, 2009-05-31)
Conference report
Open AccessThe paper deals with the problem of motion planning of anthropomorphic mechanical hands avoiding collisions. The proposed approach tries to mimic the real human hand motions, but reducing the dimension of the search ...