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  • A unified position analysis of the Dixon and the generalized Peaucellier linkages

     Rojas , N.E.; Dollar, A.; Thomas, F.
    Mechanism and machine theory
    Vol. 94, p. 28-40
    DOI: 10.1016/j.mechmachtheory.2015.07.008
    Date of publication: 2015-12-01
    Journal article
  • Distance bound smoothing under orientation constraints  Open access

     Rull, A.; Porta, J.M.; Thomas, F.
    IEEE International Conference on Robotics and Automation
    p. 1431-1436
    DOI: 10.1109/ICRA.2015.7139377
    Presentation's date: 2015
    Presentation of work at congresses
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  • A distance geometry approach to the singularity analysis of 3R robots

     Thomas, F.
    Journal of mechanisms and robotics
    Vol. 8, num. 1, p. 1-11
    DOI: 10.1115/1.4029500
    Date of publication: 2015
    Journal article
  • On generalized dual Euler angles  Open access

     Rull, A.; Thomas, F.
    European Conference on Mechanism Science
    p. 61-68
    DOI: 10.1007/978-3-319-09411-3_7
    Presentation's date: 2014
    Presentation of work at congresses
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  • New geometric approaches to the analysis and design of Stewart-Gough platforms  Open access

     Borràs, J.; Thomas, F.; Torras, C.
    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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  • Approaching dual quaternions from matrix algebra  Open access

     Thomas, F.
    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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  • The univariate closure conditions of all fully parallel planar robots derived from a single polynomial

     Rojas, N.E.; Thomas, F.
    IEEE transactions on robotics
    Vol. 29, num. 3, p. 758-765
    DOI: 10.1109/TRO.2013.2242376
    Date of publication: 2013-06
    Journal article
  • A bilinear formulation for the motion planning of non-holonomic parallel orienting platforms  Open access

     Grosch, P.; Thomas, F.
    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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  • Application of distance geometry to tracing coupler curves of pin-jointed linkages

     Thomas, F.; Rojas, N.E.
    Journal of mechanisms and robotics
    Vol. 5, num. 2, p. 021001-
    DOI: 10.1115/1.4023515
    Date of publication: 2013
    Journal article
  • Formulating Assur kinematic chains as projective extensions of Baranov trusses

     Rojas, N.; Thomas, F.
    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, F.
    Competitive project
  • Distance-Based Formulations For The Position Analysis Of Kinematic Chains  Open access

     Rojas, N.E.
    Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya
    Theses
  • Motion planning for parallel robots with non-holonomic joints  Open access

     Tchon, K.; Jakubiak, J.; Grosch, P.; Thomas, F.
    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, R.; Aranda, J.; Thomas, F.
    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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  • The octahedral manipulator revisited  Open access

     Rojas, N.E.; Borras, J.; Thomas, F.
    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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  • On closed-form solutions to the position analysis of Baranov trusses  Open access

     Rojas, N.E.; Thomas, F.
    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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  • On the primal and dual forms of the Stewart platform pure condition  Open access

     Borras, J.; Thomas, F.
    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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  • Superficies programables

     Rull, A.; Perez-Gracia, A.; Grosch, P.; Thomas, F.
    Competitive project
  • Singularity-invariant families of line-plane 5-SPU platforms  Open access

     Borras, J.; Thomas, F.; Torras, C.
    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, J.
    Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya
    Theses
  • Distance-based position analysis of the three seven-link Assur kinematic chains  Open access

     Rojas, N.E.; Thomas, F.
    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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  • A coordinate-free approach to tracing the coupler curves of pin-jointed linkages  awarded activity

     Rojas, N.E.; Thomas, F.
    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, J.; Thomas, F.; Torras, C.
    Workshop Español de Robótica
    p. 173-180
    Presentation's date: 2011
    Presentation of work at congresses
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  • The forward kinematics of 3-RPR planar robots: a review and a distance-based formulation  Open access

     Rojas, N.E.; Thomas, F.
    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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  • Closed-form solution to the position analysis of Watt–Baranov trusses using the bilateration method

     Rojas, N.E.; Thomas, F.
    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

     Xambo, S.; Plans, B.; Borras, J.; Barja, M.; Thomas, F.; Quer, J.; Torras, C.; Alberich, M.
    Competitive project
  • Architectural singularities of a class of pentapods  Open access

     Borras, J.; Thomas, F.; Torras, C.
    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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  • DESPLEGAMENT DE L'EXPOSICIÓ RSME-IMAGINARY A CATALUNYA - FASE 2010

     Xambo, S.; Borras, J.; Quer, J.; Plans, B.; Barja, M.; Thomas, F.; Torras, C.; Alberich, M.
    Competitive project
  • Factories del futur pel sector manufacturer a Catalunya (manucat)

     Casado, R.; Rodriguez, R.; Buj, I.; Goma, J.; Fenollosa, F.; Napoles, A.; Martinez, J.; Fruitos, O.; Travieso-Rodríguez, J.A.; Maspoch, M.; Martinez, A.; Tort-Martorell, J.; Joan Vivancos-Calvet; Roure, F.; Puigjaner, L.; Espuña, A.; Thomas, F.; Pastor, M.; Minguella-Canela, J.
    Competitive project
  • Motion Planning for a Novel Recon¿gurable Parallel Manipulator with Lockable Revolute Joints

     Grosch, P.; Di Gregorio, S.; López, J.; Thomas, F.
    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, F.; Torras, C.; Agostini, A.G.; Husain, S.; Dellen, B.; Alenyà, G.; Jimenez, P.; Thomas, F.; Rozo, L.; Foix, S.
    Competitive project
  • Singularity-invariant leg rearrangements in doubly-planar Stewart-Gough platforms  Open access

     Borras, J.; Thomas, F.; Torras, C.
    Robotics: Science and Systems
    p. 1-8
    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, N.; Thomas, F.
    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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  • Singularity-invariant leg rearrangements in Stewart-Gough platforms  Open access

     Borras, J.; Thomas, F.; Torras, C.
    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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  • A family of quadratically-solvable 5-SPU parallel robots  Open access

     Borras, J.; Thomas, F.; Torras, C.
    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, N.E.; Borras, J.; Thomas, F.
    IFToMM Symposium on Mechanism Design for Robotics
    p. 1-12
    Presentation's date: 2010
    Presentation of work at congresses
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  • A one-motor full-mobility 6-PUS manipulator  Open access

     Grosch, P.; Di Gregorio, S.; Thomas, F.
    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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  • Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints  Open access

     Grosch, P.; Di Gregorio, S.; López, J.; Thomas, F.
    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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  • Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators  Open access

     Grosch, P.; Di Gregorio, S.; Thomas, F.
    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 substitutions in pentapods  Open access

     Borras, J.; Thomas, F.
    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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  • On Delta-Transforms

     Borras, J.; Thomas, F.; Torras, C.
    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, M.; Gonzalez, V.; Thomas, F.; Torras, C.
    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, M.; Garolera, M.; Thomas, F.; Torras, C.
    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, F.; Baruch, I.; Flores, J.; 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, J.; Thomas, F.; Torras, C.
    Computational Kinematics
    p. 359-366
    Presentation's date: 2009-05-08
    Presentation of work at congresses
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  • Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study

     Grosch, P.; Di Gregorio, S.; Thomas, F.
    ASME International Design Engineering Technical Conferences
    p. 1-8
    Presentation's date: 2009
    Presentation of work at congresses
  • Concise proof of Tienstra's formula  Open access

     Porta, J.M.; Thomas, F.
    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, J.M.; Ros, L.; Thomas, F.
    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, F.; Torras, C.; Borras, J.
    IEEE transactions on robotics
    Vol. 25, num. 6, p. 1225-1236
    DOI: 10.1109/TRO.2009.2032956
    Date of publication: 2009
    Journal article
    Access to the full text