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  • Distance geometry in active structures 

    Porta Pleite, Josep Maria; Rojas Librero, Nicolás Enrique; Thomas, Federico (Springer, 2018)
    Part of book or chapter of book
    Open Access
    Distance constraints are an emerging formulation that offers intuitive geometrical interpretation of otherwise complex problems. The formulation can be applied in problems such as position and singularity analysis and path ...
  • On quartically-solvable robots 

    Rojas Librero, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Conference report
    Open Access
    This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts ...