Now showing items 1-20 of 92

    • 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 ...
    • 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 ...
    • Action evaluation for mobile robot global localization in cooperative environments 

      Corominas Murtra, Andreu; Mirats Tur, Josep Maria; Sanfeliu Cortés, Alberto (2008-01)
      Article
      Open Access
      This 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 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Ortega, Romeo (2010)
      Conference report
      Restricted access - publisher's policy
      Two 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 

      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 ...
    • 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 ...
    • Assembly planning in cluttered environments through heterogeneous reasoning 

      Beßler, Daniel; Pomarlan, Mihai; Akbari, Aliakbar; Ud Din, Muhayy; Diab, Mohammed; Rosell Gratacòs, Jan; Bateman, John; Beetz, Michael (Springer, 2018)
      Conference lecture
      Open Access
      Assembly 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) 

      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 ...
    • Bluebots: proyectos fin de carrera con robots controlados mediante Bluetooth 

      Ribas Xirgo, Lluís (2009-06-19T07:25:15Z)
      Conference report
      Open Access
      El 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 

      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 ...
    • 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 d'un pèndol invertit mitjançant un robot paral·lel 

      Giro Pérez, Pere (Universitat Politècnica de Catalunya, 2018-09-07)
      Bachelor thesis
      Open Access
      El projecte consistirà a controlar (l'equilibri inestable) d'una massa a l'extrem d'una barra articulada en l'altre extrem, que estarà muntat sobre una plataforma mòbil, controlada per un robot paral·lel.
    • Control in the operational space of bilateral teleoperators with time-delays and without velocity measurements¿ 

      Aldana, Carlos I.; Cruz, Emmanuel; Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis (2018-01-01)
      Article
      Open Access
      This paper proposes a control scheme in the operational space for bilateral teleoperation systems composed of heterogeneous robots (kinematically and dynamically different) without velocity sensors and considering variable ...