Browsing by Subject "Robots -- Sistemes de control"
Now showing items 1-20 of 108
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A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms
(Institute of Electrical and Electronics Engineers (IEEE), 2013)
Conference report
Open AccessThis 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
(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 ... -
A general method for the numerical computation of manipulator singularity sets
(2014)
Article
Open AccessThe 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 lightweight perception module for planning purposes
(Institute of Electrical and Electronics Engineers (IEEE), 2020)
Conference lecture
Open AccessSensing is an essential component for robots to perform the manipulation tasks in real environments. This study proposes a lightweight deep-learning-based sensing modules which allows the robots to automatically model the ... -
A multi-agent approach to qualitative navigation in robotics
(Universitat Politècnica de Catalunya, 2003-07-28)
Doctoral thesis
Open AccessLa navegació en entorns desconeguts no estructurats és encara un problema obert en el camp de la robòtica. En aquesta tesi presentem una aproximació per a la navegació de robots basada en la combinació de navegació basada ... -
A multi-robot cooperation strategy for dexterous task oriented teleoperation
(2015-06-01)
Article
Open AccessThe 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 ... -
A secure JXTA-overlay platform for robot control
(Institute of Electrical and Electronics Engineers (IEEE), 2010)
Conference report
Open AccessDue 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 ... -
Action evaluation for mobile robot global localization in cooperative environments
(2008-01)
Article
Open AccessThis work is about solving the global localization issue for mobile robots operating in large and cooperative environments. It tackles the problem of estimating the pose of a robot or team of robots in the map reference ... -
Adaptive control for the synchronization of multiple robot manipulators with coupling time-delays
(2010)
Conference report
Restricted access - publisher's policyTwo controllers capable of achieving asymptotic convergence of position and velocity errors, of the ithmanipulator within a multiple robot network, are proposed. The controllers employ adaptive techniques to find an ... -
Análisis del rendimiento de un sistema robótico de control en red basado en simulación
(Universitat Politècnica de Catalunya, 2010-06)
Master thesis
Open AccessDebido 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 ... -
Aportació a la descripció i seguiment de camins navegables en entorns naturals a partir de l'anàlisi de regions en seqüències d'imatges
(Universitat Politècnica de Catalunya, 1998-03-20)
Doctoral thesis
Open AccessEl objetivo principal fijado al inicio de esta tesis era la definición de una metodología para la descripción y seguimiento de caminos mal o débilmente estructurados (como por ejemplo los caminos de montaña, agrícolas o ... -
Application of JXTA-overlay platform for secure robot control
(2010)
Article
Open AccessIn 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 ... -
Assembly planning in cluttered environments through heterogeneous reasoning
(Springer, 2018)
Conference lecture
Open AccessAssembly recipes can elegantly be represented in description logic theories. With such a recipe, the robot can figure out the next assembly step through logical inference. However, before performing an action, the robot ... -
Automatic Email Management using RPA (Robotic Process Automation) and AI (Artificial Intelligence)
(Universitat Politècnica de Catalunya, 2019-01)
Bachelor thesis
Restricted access - confidentiality agreement -
Batch gating for data association in monocular SLAM
(Trans Tech Publications, 2013-05-27)
Article
Restricted access - publisher's policyThis 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 telemanipulation of unknown objects using remote dexterous in-hand manipulation strategies
(2020)
Conference report
Open AccessThis paper presents an approach to perform bilateral in-hand (dexterous) telemanipulation of unknown objects. The proposed approach addresses three of the main problems in telemanipulation: \eno{kinematic issues due to the ... -
Bilateral teleoperation of flexible-joint manipulators with dynamic gravity compensation and variable time-delays
(2013)
Conference report
Restricted access - publisher's policyAbstract—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 ... -
Bluebots: proyectos fin de carrera con robots controlados mediante Bluetooth
(2009-06-19T07:25:15Z)
Conference report
Open AccessEl desarrollo de aplicaciones con robots implica a la mayoría de áreas de conocimiento de la informática y es un elemento motivador para los alumnos de estos estudios. En este artículo se presenta la experiencia iniciada ... -
Combining motion planning and task planning for a dual-arm system
(2016)
Conference report
Open AccessThis 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 ... -
Concurrent initialization for Bearing-Only SLAM
(2010-03-01)
Article
Open AccessSimultaneous 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. ...