KRD - Cinemàtica i Disseny de Robots
El grup estudia el comportament dels mecanismes articulats i la planificació, simulació i el control eficient i segur dels moviments d'aquests sistemes. Tots aquests aspectes són esencials per poder desenvolupar els robots cada vegada més complexos d'avui en dia, que s'han de dissenyar de forma que operin en els espais de treball pre-establerts, que han de manipular objectes de forma destra i que han d'evitar en tot moment les configuracions singulars i les col·lisions amb l'entorn.
Col·leccions
-
Articles de revista [11]
Enviaments recents
-
A singularity-robust LQR controller for parallel robots
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertParallel robots exhibit the so-called forward singularities, which complicate substantially the planning and control of their motions. Often, such complications are circumvented by restricting the motions to singularity-free ... -
The forward kinematics of doubly-planar Gough-Stewart platforms and the position analysis of strips of tetrahedra
(Springer, 2018)
Text en actes de congrés
Accés obertA strip of tetrahedra is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. The problem of finding all the possible lengths for an edge in the strip ... -
Grasping unknown objects in clutter by superquadric representation
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertIn this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object ... -
Yet another approach to the Gough-Stewart platform forward kinematics
(2018)
Text en actes de congrés
Accés obertThe forward kinematics of the Gough-Stewart platform, and their simplified versions in which some leg endpoints coalesce, has been typically solved using variable elimination methods. In this paper, we cast doubts on whether ... -
Randomized planning of dynamic motions avoiding forward singularities
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertForward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded ... -
Randomized kinodynamic planning for constrained systems
(Institute of Electrical and Electronics Engineers (IEEE), 2018)
Text en actes de congrés
Accés obertKinodynamic RRT planners are considered to be general tools for effectively finding feasible trajectories for high-dimensional dynamical systems. However, they struggle when holonomic constraints are present in the system, ... -
Accurate computation of quaternions from rotation matrices
(Springer International Publishing, 2018)
Text en actes de congrés
Accés obertThe main non-singular alternative to 3×3 proper orthogonal matrices, for representing rotations in R3, is quaternions. Thus, it is important to have reliable methods to pass from one representation to the other. While ... -
A reconfigurable asymmetric 3-UPU parallel robot
(2018)
Text en actes de congrés
Accés obertParallel robots with three UPU legs have received a lot of attention due to the possibility of assembling these legs so that the robot performs either a pure translational or a pure rotational motion. Nevertheless, some ... -
Distance geometry in active structures
(Springer, 2018)
Capítol de llibre
Accés obertDistance 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 ... -
Randomized kinodynamic planning for cable-suspended parallel robots
(Springer, 2017)
Text en actes de congrés
Accés obertThis paper proposes the use of a randomized kinodynamic planning technique to synthesize dynamic motions for cable-suspended parallel robots. Given two mechanical states of the robot, both with a prescribed position and ... -
Closed-form position analysis of variable geometry trusses
(2017-03-01)
Article
Accés obertVariable geometry trusses are composed, in general, of unit cells which can be modeled as bars connected by spherical joints. Under mild conditions, it has been shown that the only feasible cells are topologically equivalent ... -
Uncalibrated visual servo for unmanned aerial manipulation
(Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
Article
Accés obertThis paper addresses the problem of autonomous servoing an unmanned redundant aerial manipulator using computer vision. The overactuation of the system is exploited by means of a hierarchical control law, which allows to ...
RSS 1.0