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.

http://futur.upc.edu/KRD

Enviaments recents

  • 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 ...
  • New algebraic conditions for the identification of the relative position of two coplanar ellipses 

    Alberich Carramiñana, Maria; Elizalde, Borja; Thomas, Federico (2017-05-01)
    Article
    Accés restringit per política de l'editorial
    The 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 

    Pérez Gracia, Alba; Thomas, Federico (2017-03-01)
    Article
    Accés obert
    A 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 

    Bordalba Llaberia, Ricard; Porta Pleite, Josep Maria; Ros Giralt, Lluís (2017)
    Report de recerca
    Accés obert
    This 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 

    Thomas, Federico; Porta Pleite, Josep Maria (Springer, 2016)
    Text en actes de congrés
    Accés obert
    A 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, ...
  • On quartically-solvable robots 

    Rojas Librero, Nicolás Enrique; Borràs Sol, Júlia; Thomas, Federico (Institute of Electrical and Electronics Engineers (IEEE), 2015)
    Text en actes de congrés
    Accés obert
    This paper presents a first attempt at a unified kinematics analysis of all serial and parallel solvable robots, that is, robots whose position analysis can be carried out without relying on numerical methods. The efforts ...
  • A bayesian approach to simultaneously recover camera pose and non-rigid shape from monocular images 

    Moreno-Noguer, Francesc; Porta Pleite, Josep Maria (2016)
    Article
    Accés obert
    In this paper we bring the tools of the Simultaneous Localization and Map Building (SLAM) problem from a rigid to a deformable domain and use them to simultaneously recover the 3D shape of non-rigid surfaces and the sequence ...
  • Sensor localization from distance and orientation constraints 

    Porta Pleite, Josep Maria; Rull Sanahuja, Aleix; Thomas, Federico (2016)
    Article
    Accés obert
    The sensor localization problem can be formalized using distance and orientation constraints, typically in 3D. Local methods can be used to refine an initial location estimation, but in many cases such estimation is not ...
  • A matrix-based approach to the image moment problem 

    Martínez Bauzà, Judit; Porta Pleite, Josep Maria; Thomas, Federico (2006-11)
    Article
    Accés obert
    An image can be seen as an element of a vector space and hence it can be expressed in as a linear combination of the elements of any non necessarily orthogonal basis of this space. After giving a matrix formulation of this ...

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