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

  • Model predictive control for a Mecanum-wheeled robot navigating among obstacles 

    Moreno Caireta, Iñigo; Celaya Llover, Enric; Ros Giralt, Lluís (Elsevier, 2021)
    Conference report
    Open Access
    Mecanum-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 

    Sarabandi, Soheil; Porta Pleite, Josep Maria; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2022)
    Article
    Open Access
    An 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 

    Celaya Llover, Enric (2021)
    Research report
    Open Access
    Collocation 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 

    Marchi, Tommaso; Mottola, Giovanni; Porta Pleite, Josep Maria; Thomas, Federico; Carricato, Marco (2021)
    Article
    Open Access
    Parallel 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 

    Faria, Melissa; Prats, Eva; Rosas Ramírez, Jonathan Ricardo; Bellot, Marina; Bedrossiantz, Juliette; Pagano, Maria; Valls Brusco, Arnau; Gomez Canela, Cristian; Porta Pleite, Josep Maria; Mestres, Jordi; Garcia Reyero, Natalia; Faggio, Caterina; Gómez Oliván, Leobardo Manuel; Raldúa Pérez, Demetrio José (Elsevier, 2021)
    Article
    Open Access
    Fenitrothion 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 

    Wu, Jin; Sarabandi, Soheil; Porta Pleite, Josep Maria; Liu, Ming; Thomas, Federico (2021)
    Research report
    Open Access
    This 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 

    Shabani, Arya; Porta Pleite, Josep Maria; Thomas, Federico (2021)
    Article
    Open Access
    Using 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 randomised kinodynamic planner for closed-chain robotic systems 

    Bordalba Llaberia, Ricard; Ros Giralt, Lluís; Porta Pleite, Josep Maria (Institute of Electrical and Electronics Engineers (IEEE), 2021-02-01)
    Article
    Open Access
    Kinodynamic 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, ...
  • Clifford’s identity and generalized Cayley-Menger determinants 

    Thomas, Federico; Porta Pleite, Josep Maria (Springer Nature, 2020)
    Conference report
    Open Access
    Distance geometry is usually defined as the characterization and study of point sets in Rk, the k-dimensional Euclidean space, based on the pairwise distances between their points. In this paper, we use Clifford’s identity ...
  • Position analysis of a class of n-RRR planar parallel robots 

    Marchi, Tommaso; Mottola, Giovanni; Porta Pleite, Josep Maria; Thomas, Federico; Carricato, Marco (Springer, 2020)
    Part of book or chapter of book
    Open Access
    Parallel robots with a configurable platform are a class of parallel robots in which the end-effector is a closed-loop kinematic chain. In n-RRR planar robots the end-effector is a n-bar chain controlled by 'n' actuated ...
  • A space decomposition method for path planning of loop linkages 

    Porta Pleite, Josep Maria; Cortés, Juan; Ros Giralt, Lluís; Thomas, Federico (2007)
    Conference report
    Open Access
    This paper introduces box approximations as a new tool for path planning of closed-loop linkages. Box approximations are finite collections of rectangloids that tightly envelop the robot's free space at a desired resolution. ...

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