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  • Approaching dual quaternions from matrix algebra  Open access

     Thomas Arroyo, Federico
    IEEE transactions on robotics
    Vol. 30, num. 5, p. 1037-1048
    DOI: 10.1109/TRO.2014.2341312
    Date of publication: 2014
    Journal article
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  • New geometric approaches to the analysis and design of Stewart-Gough platforms  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    IEEE-ASME transactions on mechatronics
    Vol. 19, num. 2, p. 445-455
    DOI: 10.1109/TMECH.2013.2239305
    Date of publication: 2014
    Journal article
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  • The univariate closure conditions of all fully parallel planar robots derived from a single polynomial

     Rojas Libreros, Nicolás Enrique; Thomas Arroyo, Federico
    IEEE transactions on robotics
    Vol. 29, num. 3, p. 758-765
    DOI: 10.1109/TRO.2013.2242376
    Date of publication: 2013-06
    Journal article
  • Application of distance geometry to tracing coupler curves of pin-jointed linkages

     Thomas Arroyo, Federico; Rojas Libreros, Nicolás Enrique
    Journal of mechanisms and robotics
    Vol. 5, num. 2, p. 021001-
    DOI: 10.1115/1.4023515
    Date of publication: 2013
    Journal article
  • A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms  Open access

     Grosch Obregon, Patrick John; Thomas Arroyo, Federico
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    p. 953-958
    DOI: 10.1109/IROS.2013.6696465
    Presentation's date: 2013
    Presentation of work at congresses
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  • Formulating Assur kinematic chains as projective extensions of Baranov trusses

     Rojas, Nicolás; Thomas Arroyo, Federico
    Mechanism and machine theory
    Vol. 56, p. 16-27
    DOI: 10.1016/j.mechmachtheory.2012.05.006
    Date of publication: 2012-10
    Journal article
  • Computational Kinematics 2013 (CK2013)

     Thomas Arroyo, Federico
    Competitive project
  • Distance-Based Formulations For The Position Analysis Of Kinematic Chains  Open access

     Rojas Libreros, Nicolás Enrique
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses
  • Honorable mention, ASME Mechanisms and Robotics Committee Best Paper Award

     Thomas Arroyo, Federico; Rojas, Nicolas
    Award or recognition
  • On the primal and dual forms of the Stewart platform pure condition  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico
    IEEE transactions on robotics
    Vol. 28, num. 6, p. 1205-1215
    DOI: 10.1109/TRO.2012.2204531
    Date of publication: 2012
    Journal article
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  • On closed-form solutions to the position analysis of Baranov trusses  Open access

     Rojas Libreros, Nicolás Enrique; Thomas Arroyo, Federico
    Mechanism and machine theory
    Vol. 50, p. 179-196
    DOI: 10.1016/j.mechmachtheory.2011.10.010
    Date of publication: 2012
    Journal article
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  • The octahedral manipulator revisited  Open access

     Rojas Libreros, Nicolás Enrique; Borras Sol, Julia; Thomas Arroyo, Federico
    IEEE International Conference on Robotics and Automation
    p. 2293-2298
    DOI: 10.1109/ICRA.2012.6224908
    Presentation's date: 2012
    Presentation of work at congresses
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  • Motion planning for parallel robots with non-holonomic joints  Open access

     Tchon, Krzysztof; Jakubiak, Janusz; Grosch Obregon, Patrick John; Thomas Arroyo, Federico
    International Symposium on Advances in Robot Kinematics
    p. 115-122
    DOI: 10.1007/978-94-007-4620-6_15
    Presentation's date: 2012
    Presentation of work at congresses
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  • Simplified Voronoi diagrams for motion planning of quadratically-solvable Gough-Stewart platforms  Open access

     Vaca Alzate, Ruben Hernando; Aranda López, Juan; Thomas Arroyo, Federico
    International Symposium on Advances in Robot Kinematics
    p. 157-164
    DOI: 10.1007/978-94-007-4620-6_20
    Presentation's date: 2012
    Presentation of work at congresses
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  • Superficies programables

     Rull Sanahuja, Aleix; Pérez Gracia, María Alba; Grosch Obregon, Patrick John; Thomas Arroyo, Federico
    Competitive project
  • Singularity-invariant families of line-plane 5-SPU platforms  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    IEEE transactions on robotics
    Vol. 27, num. 5, p. 837-848
    DOI: 10.1109/TRO.2011.2158018
    Date of publication: 2011-10
    Journal article
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  • Singularity-invariant leg rearrangements in stewart-gouch platforms

     Borras Sol, Julia
    Institute of Industrial and Control Engineering (IOC), Universitat Politècnica de Catalunya
    Theses
  • Distance-based position analysis of the three seven-link Assur kinematic chains  Open access

     Rojas Libreros, Nicolás Enrique; Thomas Arroyo, Federico
    Mechanism and machine theory
    Vol. 46, num. 2, p. 112-126
    DOI: 10.1016/j.mechmachtheory.2010.10.004
    Date of publication: 2011-02
    Journal article
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  • The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation  Open access

     Rojas Libreros, Nicolás Enrique; Thomas Arroyo, Federico
    IEEE transactions on robotics
    Vol. 27, num. 1, p. 143-150
    DOI: 10.1109/TRO.2010.2092251
    Date of publication: 2011
    Journal article
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  • Architectural singularities of a class of pentapods  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    Mechanism and machine theory
    Vol. 46, num. 8, p. 1107-1120
    DOI: 10.1016/j.mechmachtheory.2011.03.005
    Date of publication: 2011
    Journal article
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  • Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method

     Rojas Libreros, Nicolás Enrique; Thomas Arroyo, Federico
    Journal of mechanisms and robotics
    Vol. 3, num. 3, p. 1-10
    DOI: 10.1115/1.4004031
    Date of publication: 2011
    Journal article
  • Desplegament de l'exposició RSME imaginari a Catalunya. Fase 2011

     Xambó Descamps, Sebastian; Plans Berenguer, Bernat; Borras Sol, Julia; Barja Yañez, Miguel Angel; Thomas Arroyo, Federico; Quer Bosor, Jordi; Torras, Carme; Alberich Carramiñana, Maria
    Competitive project
  • A coordinate-free approach to tracing the coupler curves of pin-jointed linkages  awarded activity

     Rojas Libreros, Nicolás Enrique; Thomas Arroyo, Federico
    ASME International Design Engineering Technical Conferences
    p. 417-426
    DOI: 10.1115/DETC2011-48147
    Presentation's date: 2011
    Presentation of work at congresses
  • New geometric approaches to the singularity analysis of parallel platforms  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    Workshop Español de Robótica
    p. 173-180
    Presentation's date: 2011
    Presentation of work at congresses
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  • DESPLEGAMENT DE L'EXPOSICIÓ RSME-IMAGINARY A CATALUNYA - FASE 2010

     Xambó Descamps, Sebastian; Borras Sol, Julia; Quer Bosor, Jordi; Plans Berenguer, Bernat; Barja Yañez, Miguel Angel; Thomas Arroyo, Federico; Torras, Carme; Alberich Carramiñana, Maria
    Competitive project
  • Factories del futur pel sector manufacturer a Catalunya (manucat)

     Casado Lopez, Ramon; Rodriguez Sendra, Rosa Maria; Buj Corral, Irene; Gomà Ayats, Joan Ramon; Fenollosa Artes, Felip; Napoles Alberro, Amelia Emelina; Martinez Miralles, Jordi Ramon; Fruitos Bickham, Oscar Alejandro; Travieso Rodríguez, José Antonio; Maspoch Ruldua, Maria Lluïsa; Martinez Velasco, Antonio Benito; Tort-Martorell Llabres, Javier; Vivancos Calvet, Joan; Roure Fernandez, Francisco; Puigjaner Corbella, Luis; Espuña Camarasa, Antonio; Thomas Arroyo, Federico; Pastor Artigues, M. Magdalena; Minguella Canela, Joaquim
    Competitive project
  • Motion Planning for a Novel Recon¿gurable Parallel Manipulator with Lockable Revolute Joints

     Grosch Obregon, Patrick John; Di Gregorio, Silvana; López, Javier; Thomas Arroyo, Federico
    IEEE International conference on robotics and automation
    p. 469-4702
    Date of publication: 2010-05
    Journal article
  • GARNICS: Gardening with a Cognitive System (FP7-ICT-247947)

     Moreno Noguer, Francesc d'Assis; Torras, Carme; Agostini, Alejandro Gabriel; Husain, Syed Farzad; Dellen, Babette Karla Margarete; Alenyà Ribas, Guillem; Jimenez Schlegl, Pablo; Thomas Arroyo, Federico; Rozo Castañeda, Leonel; Foix Salmeron, Sergi
    Competitive project
  • Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators  Open access

     Grosch Obregon, Patrick John; Di Gregorio, Silvana; Thomas Arroyo, Federico
    Journal of mechanisms and robotics
    Vol. 2, num. 1, p. 11005-11012
    DOI: 10.1115/1.4000527
    Date of publication: 2010
    Journal article
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  • Singularity-invariant leg rearrangements in Stewart-Gough platforms  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    International Symposium on Advances in Robot Kinematics
    p. 421-428
    DOI: 10.1007/978-90-481-9262-5_45
    Presentation's date: 2010
    Presentation of work at congresses
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  • Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    Robotics: Science and Systems
    p. 1-8
    Presentation's date: 2010
    Presentation of work at congresses
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  • A family of quadratically-solvable 5-SPU parallel robots  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    IEEE International Conference on Robotics and Automation
    p. 4703-4708
    DOI: 10.1109/ROBOT.2010.5509965
    Presentation's date: 2010
    Presentation of work at congresses
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  • A distance-based formulation of the octahedral manipulator kinematics  Open access

     Rojas Libreros, Nicolás Enrique; Borras Sol, Julia; Thomas Arroyo, Federico
    IFToMM Symposium on Mechanism Design for Robotics
    p. 1-12
    Presentation's date: 2010
    Presentation of work at congresses
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  • Singularity-invariant leg substitutions in pentapods  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico
    IEEE/RSJ International Conference on Intelligent Robots and Systems
    p. 2766-2771
    DOI: 10.1109/IROS.2010.5652202
    Presentation's date: 2010
    Presentation of work at congresses
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  • A robust forward kinematics analysis of 3-RPR planar platforms  Open access

     Rojas, Nicolás; Thomas Arroyo, Federico
    International Symposium on Advances in Robot Kinematics
    p. 23-32
    DOI: 10.1007/978-90-481-9262-5_3
    Presentation's date: 2010
    Presentation of work at congresses
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  • Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints  Open access

     Grosch Obregon, Patrick John; Di Gregorio, Silvana; López, Javier; Thomas Arroyo, Federico
    IEEE International Conference on Robotics and Automation
    p. 4697-4702
    DOI: 10.1109/ROBOT.2010.5509305
    Presentation's date: 2010
    Presentation of work at congresses
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  • A one-motor full-mobility 6-PUS manipulator  Open access

     Grosch Obregon, Patrick John; Di Gregorio, Silvana; Thomas Arroyo, Federico
    CISM-IFToMM Symposium on Robot Design, Dynamics and Control
    p. 49-56
    DOI: 10.1007/978-3-7091-0277-0_5
    Presentation's date: 2010
    Presentation of work at congresses
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  • On Delta-Transforms

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    IEEE transactions on robotics
    Vol. 25, num. 6, p. 1225-1236
    DOI: 10.1109/TRO.2009.2032956
    Date of publication: 2009-12
    Journal article
  • Stratifications of the Euclidean motion group with applications to robotics

     Alberich Carramiñana, Maria; Gonzalez Pacheco, Víctor; Thomas Arroyo, Federico; Torras, Carme
    Geometricae dedicata
    Vol. 141, num. 1, p. 19-32
    DOI: 10.1007/s10711-008-9341-2
    Date of publication: 2009-08
    Journal article
  • Partially flagged parallel manipulators: singularity charting and avoidance  Open access

     Alberich Carramiñana, Maria; Garolera Huguet, Marçal; Thomas Arroyo, Federico; Torras, Carme
    IEEE transactions on robotics
    Vol. 25, num. 4, p. 771-784
    DOI: 10.1109/TRO.2009.2018970
    Date of publication: 2009-08
    Journal article
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  • "Adaptive Neural Control of Nonlinear Systems"  Open access

     Thomas Arroyo, Federico; Baruch, I; Flores, JM; Garrido, R
    DOI: 10.1007/978-3-642-02172-5_18
    Date of publication: 2009-06-12
    Book chapter
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  • Straightening-free algorithm for the singularity analysis of Stewart-Gough platforms with collinear/coplanar attachments  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Torras, Carme
    Computational Kinematics
    p. 359-366
    Presentation's date: 2009-05-08
    Presentation of work at congresses
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  • A reconfigurable 5-DoF 5-SPU parallel platform  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico; Ottaviano, Erika; Ceccarelli, Marco
    ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots
    p. 617-623
    Presentation's date: 2009
    Presentation of work at congresses
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  • Concise proof of Tienstra's formula  Open access

     Porta Pleite, Josep M.; Thomas Arroyo, Federico
    Journal of surveying engineering (ASCE)
    Vol. 135, num. 4, p. 170-172
    Date of publication: 2009
    Journal article
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  • A linear relaxation technique for the position analysis of multiloop linkages  Open access

     Porta Pleite, Josep M.; Ros Giralt, Lluis; Thomas Arroyo, Federico
    IEEE transactions on robotics
    Vol. 25, num. 2, p. 225-239
    DOI: 10.1109/TRO.2008.2012337
    Date of publication: 2009
    Journal article
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  • On ¿-transforms  Open access

     Thomas Arroyo, Federico; Torras, Carme; Borras Sol, Julia
    IEEE transactions on robotics
    Vol. 25, num. 6, p. 1225-1236
    DOI: 10.1109/TRO.2009.2032956
    Date of publication: 2009
    Journal article
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  • Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study

     Grosch Obregon, Patrick John; Di Gregorio, Silvana; Thomas Arroyo, Federico
    ASME International Design Engineering Technical Conferences
    p. 1-8
    Presentation's date: 2009
    Presentation of work at congresses
  • Kinematics of line-plane subassemblies in Stewart platforms  Open access

     Borras Sol, Julia; Thomas Arroyo, Federico
    IEEE International Conference on Robotics and Automation
    p. 4094-4099
    Presentation's date: 2009
    Presentation of work at congresses
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  • A wire-based active tracker  Open access

     Andrade Cetto, Juan; Thomas Arroyo, Federico
    IEEE transactions on robotics
    Vol. 24, num. 3, p. 642-651
    DOI: 10.1109/TRO.2008.924260
    Date of publication: 2008-06
    Journal article
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  • A linear relaxation technique for the position analysis of multi-loop linkages  Open access

     Porta Pleite, Josep M.; Ros Giralt, Lluis; Thomas Arroyo, Federico
    Date: 2008-01
    Report
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