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.

Enviaments recents

  • 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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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)
    Text en actes de congrés
    Accés obert
    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 ...
  • A reconfigurable asymmetric 3-UPU parallel robot 

    Sarabandi, Soheil; Grosch Obregon, Patrick John; Porta Pleite, Josep Maria; Thomas, Federico (2018)
    Text en actes de congrés
    Accés obert
    Parallel 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 

    Porta Pleite, Josep Maria; Rojas Librero, Nicolás Enrique; Thomas, Federico (Springer, 2018)
    Capítol de llibre
    Accés obert
    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 ...
  • Randomized kinodynamic planning for cable-suspended parallel robots 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (Springer, 2017)
    Text en actes de congrés
    Accés obert
    This 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 

    Porta Pleite, Josep Maria; Thomas, Federico (2017-03-01)
    Article
    Accés obert
    Variable 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 

    Santamaria Navarro, Àngel; Grosch Obregon, Patrick John; Lippiello, Vincenzo; Solà Ortega, Joan; Andrade-Cetto, Juan (Institute of Electrical and Electronics Engineers (IEEE), 2017-08-01)
    Article
    Accés obert
    This 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 ...

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