Muñoz Benavent, Pau; Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Tornero Montserrat, Josep(Elsevier, 2015-03)
In this paper, novel visual servoing techniques based on Pulse Width Modulation (PWM) and Pulse Frequency Modulation (PFM) are presented. In order to apply previous pulse modulations, a fully decoupled position based visual ...
Muñoz Benavent, Pau(Universitat Politècnica de València, 2017-11-03)
This work presents different proposals to deal with common problems in robot visual servoing based on the application of discontinuous control methods. The feasibility and effectiveness of the proposed approaches are ...
Muñoz-Benavent, Pau; Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Tornero Montserrat, Josep(Taylor & Francis, 2019)
[EN] This work presents an automated solution for tool changing in industrial robots using visual servoing and sliding mode control. The robustness of the proposed method is due to the control law of the visual servoing, ...
Muñoz-Benavent, Pau; Gracia Calandin, Luis Ignacio; Solanes Galbis, Juan Ernesto; Esparza Peidro, Alicia; Tornero Montserrat, Josep(Elsevier, 2018-02)
[EN] In this work, an approach based on sliding mode ideas is proposed to satisfy constraints in robot visual servoing.
In particular, different types of constraints are defined in order to: fulfill the visibility constraints ...
Solanes Galbis, Juan Ernesto; Gracia Calandin, Luis Ignacio; Muñoz-Benavent, Pau; Valls Miro, Jaime; Perez-Vidal, Carlos; Tornero Montserrat, Josep(ASME International, 2019)
[EN] This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and ...
Muñoz Benavent, Pau(Universitat Politècnica de València, 2011-09-28)
Desarrollo de un sistema de visión activo e integrarlo en la arquitectura de control distribuida de un robot humanoide como sensor inteligente, capaz de interpretar el entorno y generar la información a compartir con el ...
[EN] An approach based on sliding mode is proposed in this work for reference tracking in robot visual servoing. In particular, 2 sliding mode controls are obtained depending on whether joint accelerations or joint jerks ...
Martínez Peiró, Joaquín(Universitat Politècnica de València, 2021-09-27)
[ES] Este trabajo fin de grado está orientado a explorar las arquitecturas, técnicas y metodologías de las redes neuronales convolucionales (CNN), aplicadas al procesamiento de imágenes y la caracterización de objetos en ...