Now showing items 1-20 of 53

    • 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 ...
    • Aiding a SLAM system with an IMU sensor 

      Ibáñez Cuadal, Carlos (Universitat Politècnica de Catalunya, 2019-03-29)
      Bachelor thesis
      Restricted access - author's decision
      Covenantee:   Università degli studi di Roma "La Sapienza"
      This project consists of aid an existing SLAM system by developing and implementing a motion estimator based on the Inertial measurements of a VI-sensor in the SLAM pipeline. This entire project has been carried out at ...
    • Analysis of fixturing quality for a variable number of fixturing points and friction values 

      Penalba, Francesc; Rosell Gratacòs, Jan; Suárez Feijóo, Raúl (IEEE Computer Society Publications, 2009)
      Conference report
      Open Access
      This paper copes with the automatic determination of fixturing points on 2D and 3D free-form objects, for any number of fixturing points and a variable friction coefficient at the contacts. A software tool that implements ...
    • 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 ...
    • Bilateral teleoperation control without velocity measurements 

      Nuño Ortega, Emmanuel; Basañez Villaluenga, Luis; Obregón-Pulido, Guillermo; Solís-Perales, Gualberto (2011)
      Conference report
      Restricted access - publisher's policy
      This paper presents two controllers for a nonlinear bilateral teleoperation system that do not rely on velocity measurements. Under the reasonable assumptions that the human operator and the environment define passive ...
    • Competition car autonomous steering system design 

      Capdevila Cueto, David (Universitat Politècnica de Catalunya, 2021-07-05)
      Bachelor thesis
      24 months embargo
      When we talk about autonomous vehicles, we always think of a vehicle that can be driven by itself. However, this idea englobes a lot of concepts and systems that are implied and the conjunction and perfect synchronisation ...
    • Contact force computation for bimanual grasps 

      Rojas de Silva Gonzalez, Francisco Abiud; Suárez Feijóo, Raúl (Institute of Electrical and Electronics Engineers (IEEE), 2017)
      Conference report
      Restricted access - publisher's policy
      This paper presents a method to compute con- tact forces for bimanual grasps. The method is based on the optimization of the force distribution of the hands and min- imizing the force ...
    • Control de una plataforma móvil mediante microcontrolador 

      Romà Fernàndez, Daniel (Universitat Politècnica de Catalunya, 2015-10)
      Bachelor thesis
      Open Access
    • 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 ...
    • Control inalàmbric d'un robot mòbil mitjançant Iphone 

      Bitlloch Font, Pol; Mancera Gutiérrez, Mario (Universitat Politècnica de Catalunya, 2011-06)
      Master thesis (pre-Bologna period)
      Open Access
    • Control of a robotic arm during a robotized flexible needle insertion in interventional radiology. 

      Bellmunt Montoya, Joaquim (Universitat Politècnica de Catalunya / Télécom Bretagne, 2013-10-22)
      Master thesis (pre-Bologna period)
      Open Access
      Covenantee:   École nationale supérieure des télécommunications de Bretagne
      [ANGLÈS] In order to control the insertion motion during an interventional procedure based on Duty-cycle, this document brings a Control vector for the robotic arm: Adept Viper s650. The work has been divided in five parts. ...
    • Demostració de braç robòtic amb visió artificial 

      Bori Fernández, Gerard (Universitat Politècnica de Catalunya, 2014-10-14)
      Bachelor thesis
      Open Access
      Aquest projecte consisteix a dissenyar i implementar una demostració de robòtica per tal que es pugui ensenyar al públic, durant els períodes de portes obertes de la universitat, el potencial i les capacitats de la robòtica ...
    • Design and implementation of 3-RRR spherical parallel robot with three coaxial actuator 

      Morfea, Francesco (Universitat Politècnica de Catalunya, 2019-01-17)
      Master thesis
      Open Access
      This work, entitled “Design and Implementation of 3-RRR Spherical Parallel Robot with Three Coaxial Actuators” has had the scope to analytically study the kinematics (both inverse and forward one) of a coaxial configuration ...
    • Design and realization of a testbench for high dynamic performance permanent magnet synchronous motors 

      Rudé Moreno, Miquel (Universitat Politècnica de Catalunya / Eidegenössische Technische Hochschule Zürich, 2010)
      Master thesis (pre-Bologna period)
      Open Access
      The project delas with the high dynamic performance control of fast permanent magnet motors employed for robotic applications. The objective is to test and compare several control strategies in order to be able to select ...
    • Diseño de un robot manipulador industrial genérico de 3 ejes cartesianos para la paletización de cajas 

      Caro Calzada, Alberto (Universitat Politècnica de Catalunya, 2013)
      Master thesis (pre-Bologna period)
      Restricted access - confidentiality agreement
      Covenantee:   Sinerges Tecmon
    • Diseño mecánico de un brazo robótico para aplicaciones docentes 

      Llauger Roca, Ricard (Universitat Politècnica de Catalunya, 2017-05)
      Bachelor thesis
      Restricted access - author's decision
      Este proyecto de fin de grado consiste en el diseño y construcción de un brazo robot articulado y la realización del control. El robot, se diferencia del resto de productos del mercado por tener una finalidad educativa y ...
    • Disseny d'un sistema de detecció de marcadors amb ROS i visió per computador 

      Martínez Céspedes, Cristian (Universitat Politècnica de Catalunya, 2016-10-21)
      Bachelor thesis
      Open Access
    • EEG based volitional interaction with a robot to dynamically replan trajectories 

      Galve Ceamanos, Sergio (Universitat Politècnica de Catalunya, 2018-09-17)
      Master thesis
      Open Access
      Everyday robots are more involved in our daily basis and they are expected to be part of the domestic environment eventually. Assertive robots deal with this scenario providing help to people with certain disabilities, a ...
    • Efficient Industrial Solution for Robotic Task Sequencing Problem With Mutual Collision Avoidance & Cycle Time Optimization 

      Touzani, Hicham; Seguy, Nicolas; Suárez Feijóo, Raúl; Hadj Abdelkader, Hicham; Rosell Gratacòs, Jan; Palomo Avellaneda, Leopold; Bouchafa, Samia (Institute of Electrical and Electronics Engineers (IEEE), 2022-04)
      Article
      Open Access
      In the automotive industry, several robots are required to simultaneously carry out welding sequences on the same vehicle. Coordinating and assigning welding points between robots is a manual and difficult phase that needs ...
    • Estudi d’eines per al control d’un robot humanoide 

      Sánchez Cayuela, Alfredo (Universitat Politècnica de Catalunya, 2010-06)
      Master thesis (pre-Bologna period)
      Open Access