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
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Articles de revista [11]
Enviaments recents
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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 ... -
New algebraic conditions for the identification of the relative position of two coplanar ellipses
(2017-05-01)
Article
Accés restringit per política de l'editorialThe identification of the relative position of two real coplanar ellipses can be reduced to the identification of the nature of the singular conics in the pencil they define and, in general, their location with respect to ... -
On Cayley's factorization of 4D rotations and applications
(2017-03-01)
Article
Accés obertA 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ... -
Kinodynamic planning on constraint manifolds
(2017)
Report de recerca
Accés obertThis report presents a motion planner for systems subject to kinematic and dynamic constraints. The former appear when kinematic loops are present in the system, such as in parallel manipulators, in robots that cooperate ... -
Closure polynomials for strips of tetrahedra
(Springer, 2016)
Text en actes de congrés
Accés obertA tetrahedral strip is a tetrahedron-tetrahedron truss where any tetrahedron has two neighbors except those in the extremes which have only one. Unless any of the tetrahedra degenerate, such a truss is rigid. In this case, ...
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