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.
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Articles de revista [25]
Recent Submissions
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Collocation methods for second order systems
(2022)
Conference report
Open AccessCollocation methods for numerical optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form x¿ = f(x, u, t), where x is the state and u the control vector. However, in many ... -
Kinematics of a gear-based spherical mechanism
(Springer, 2022)
Conference report
Restricted access - publisher's policyKazuki Abe and his collaborators have recently presented an actuated gear-based spherical mechanism called ABENICS. It has received a lot of attention, not only because of its eye-catching motions during operation, but ... -
The distance geometry of the generalized lobster’s arm
(Springer, 2022)
Conference report
Restricted access - publisher's policyThis paper proposes a distance-based formulation to solve the inverse kinematics of what is known as the generalized Lobster's arm: a 6R serial chain in which all consecutive revolute axes intersect. Since the solution of ... -
Model predictive control for a Mecanum-wheeled robot navigating among obstacles
(Elsevier, 2021)
Conference report
Open AccessMecanum-wheeled robots have been thoroughly used to automate tasks in many different applications. However, they are usually controlled by neglecting their dynamics and relying only on their kinematic model. In this paper, ... -
Hand-eye calibration made easy through a closed-form two-stage method
(Institute of Electrical and Electronics Engineers (IEEE), 2022)
Article
Open AccessAn analysis of the existing hand-eye calibration methods reveals that most of them are far from trivial. And, what is worse, their intrinsic complexity makes it difficult to elucidate under which circumstances they fail ... -
Second order collocation
(2021)
Research report
Open AccessCollocation methods for optimal control commonly assume that the system dynamics is expressed as a first order ODE of the form dx/dt = f(x, u, t), where x is the state and u the control vector. However, in many cases, the ... -
Position and singularity analysis of a class of planar parallel manipulators with a reconfigurable end-effector
(2021)
Article
Open AccessParallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic ... -
Androgenic activation, impairment of the monoaminergic system and altered behavior in zebrafish larvae exposed to environmental concentrations of fenitrothion
(Elsevier, 2021)
Article
Open AccessFenitrothion is an organophosphorus insecticide usually found in aquatic ecosystems at concentrations in the range of low ng/L. In this manuscript we show that 24 h exposure to environmental concentrations of fenitrothion, ... -
Yet a better closed-form formula for the 3D nearest rotation matrix problem
(2021)
Research report
Open AccessThis technical report complements the results recently presented in [1] showing that they can be extended to define an efficient and robust method to determine the rotation matrix nearest to an arbitrary 3 × 3 matrix. This ... -
A branch-and-prune method to solve closure equations in dual quaternions
(2021)
Article
Open AccessUsing dual quaternions, the closure equations of a kinematic loop can be expressed as a system of multiaffine quations. In this paper, this property is leveraged to introduce a branch-and-prune method specially tailored ... -
A modification of collocation methods to ensure compatible position and velocity trajectories. Documento técnico del Instituto de Robótica e Informática Industrial
(2021-05-26)
Research report
Open Access -
A randomised kinodynamic planner for closed-chain robotic systems
(Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
Article
Open AccessKinodynamic rapidly-exploring random tree (RRT) planners are effective tools for finding feasible trajectories in many classes of robotic systems. However, they are hard to apply to systems with closed-kinematic chains, ...
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