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.

Recent Submissions

  • On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices 

    Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2019-05-09)
    Article
    Open Access
    A real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ...

  • A survey on the computation of quaternions from rotation matrices 

    Sarabandi, Soheil; Thomas, Federico (ASME PRESS, 2019-04-01)
    Article
    Open Access
    The parameterization of rotations is a central topic in many theoretical and applied fields such as rigid body mechanics, multibody dynamics, robotics, spacecraft attitude dynamics, navigation, 3D image processing, computer ...

  • A Convolutional Neural Network for the automatic diagnosis of collagen VI-related muscular dystrophies 

    Rodríguez Bazaga, Adrián; Roldán Molina, Mónica; Badosa Gallego, Maria del Carmen; Jiménez Mallebrera, Cecilia; Porta Pleite, Josep Maria (2019-12-01)
    Article
    Restricted access - publisher's policy
    The development of machine learning systems for the diagnosis of rare diseases is challenging, mainly due to the lack of data to study them. This paper surmounts this obstacle and presents the first Computer-Aided Diagnosis ...

  • Forward kinematics of the general triple-arm robot using a distance-based formulation 

    Rojas, Nicolas; Thomas, Federico (Springer, 2017)
    Conference report
    Open Access
    Distance-based formulations have successfully been used to obtain closure polynomialsfor planar mechanisms without relying, in most cases, on variable eliminations. The methods re-sulting from previous attempts to generalize ...

  • A new insight into the coupler curves of the RCCC four-bar linkage 

    Thomas, Federico; Pérez Gracia, Alba (Springer, 2017)
    Conference report
    Open Access
    Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation ...

  • A singularity-robust LQR controller for parallel robots 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Parallel 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 

    Porta Pleite, Josep Maria; Thomas, Federico (Springer, 2018)
    Conference report
    Open Access
    A 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 

    Makhal, Abhijit; Thomas, Federico; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    In 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 

    Porta Pleite, Josep Maria; Thomas, Federico (2018)
    Conference report
    Open Access
    The 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 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Springer International Publishing, 2018)
    Conference report
    Open Access
    Forward 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 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2018)
    Conference report
    Open Access
    Kinodynamic 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 

    Sarabandi, Soheil; Thomas, Federico (Springer International Publishing, 2018)
    Conference report
    Open Access
    The 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 ...

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