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Browsing by Subject "Kinematics"

Now showing items 1-20 of 31

A new approach to the kinematic modeling of a three-dimensional car-like robot with differential drive using computational mechanics

Rubio Montoya, Francisco José; Llopis Albert, Carlos; Valero Chuliá, Francisco José; Besa Gonzálvez, Antonio José (SAGE Publications, 2019-03-13)

[EN] This article presents a kinematic analysis of a four-wheeled mobile robot in three-dimensions, introducing computational mechanics. The novelty lies in (1) the type of robot that is analyzed, which has been scarcely ...
Análisis Cinemático de Robots Manipuladores Redundantes: Aplicación a los Robots Kuka LWR 4+ y ABB Yumi

Zaplana, Isiah; Claret, Josep Arnau; Basanez, Luis (Universitat Politècnica de València, 2018-03-05)

[ES] En este trabajo se presenta un análisis cinemático aplicado a dos manipuladores serie redundantes: el Kuka LWR 4+ y el ABB Yumi. En particular se deriva la cinemática directa para ambos manipuladores y se resuelve el ...
Análisis Cinemático de un Novedoso Robot Paralelo Reconfigurable

Sánchez-Alonso, Róger E.; González Barbosa, José Joel; Castillo Castañeda, Eduardo; García Murillo, Mario A. (Elsevier, 2016-04-06)

[EN] This work presents the kinematic analysis of a reconfigurable manipulator composed of two parallel sub-manipulators that share a common moving platform. A semi-closed form solution is easily obtained to solve the ...
Análisis Cinemático del Manipulador Paralelo 4-PRUR Mediante la Teoría de Tornillos

Gallardo-Alvarado, Jaime; García Murillo, Mario A. (Universitat Politècnica de València, 2017-07-09)

[ES] En este trabajo se presenta el análisis cinemático de un robot paralelo generador del movimiento de Schönflies por medio de la teoría de tornillos. Como un paso intermedio, el análisis de posición se obtiene en forma ...
Aplicación de la cinemática articular a la evaluación de la estabilidad de la rodilla

Carvalho Leite, Cláudia Susana (Universitat Politècnica de València, 2016-05-17)

[EN] In the current clinical practice the evaluation of the knee’s stability, namely of the Anterior Cruciate Ligament (ACL), is characterized by the lack of quantitative and reliable measurement techniques. Some progress ...
CNN-Based estimation of lower extremity kinematics during robot-based neurorehabilitation

Vidal Solano, Luis (Universitat Politècnica de València, 2022-12-01)

[ES] El sistema VEMOTION, desarrollado por Reactive Robotics GmbH, consiste en un sistema robótico de rehabilitación de pacientes con problemas de movilidad. El objetivo principal de este estudio es capturar los datos de ...
Comparing the efficiency of five algorithms applied to path planning for industrial robots

Rubio Montoya, Francisco José; ABU-DAKKA, FARES JAWAD MOHD; Valero Chuliá, Francisco José; Mata Amela, Vicente (Emerald, 2012)

Purpose The purpose of this paper is to compare the quality and efficiency of five methods for solving the path planning problem of industrial robots in complex environments. Design/methodology/approach In total, ...
Development of kinematics for parallel robots using screw theory

Torregrosa Antón, Álvaro (Universitat Politècnica de València, 2019-10-16)

[ES] Este Trabajo Fin de Master pretende mostrar un acercamiento al diseño de robots paralelos, en concreto al desarrollo de su cinemática. Para ello se hará uso de la Teoría de Tornillos, profundizando en sus bases teóricas ...
Estimación, mediante modelos biomecánicos, de los esfuerzos realizados en el hombro por parte de trabajadores de la industria del automóvil mediante medidas in situ

Duarte Mendoza, Juan Fernando (Universitat Politècnica de València, 2019-10-21)

[ES] Los trabajos lineales en la industria del automóvil involucran riesgos derivados de tareas repetidas y posturas forzadas mantenidas en el tiempo. Si bien, varias son las plataformas y herramientas que intentan evaluar ...
Evolutionary Path Planning Algorithm for Industrial Robots

ABU-DAKKA, FARES JAWAD MOHD; Valero Chuliá, Francisco José; Mata Amela, Vicente (Taylor & Francis and The Robotics Society of Japan, 2012)

This paper proposed a new methodology to solve collision free path planning problem for industrial robot using genetic algorithms. The method poses an optimization problem that aims to minimize the significant points ...
Grid shell in the next generation: Shape of how to build

TAMAI, Hiroki; PANTANO, Francisco (Editorial Universitat Politècnica de València, 2009-12-28)

This paper presents general concepts for the kinematic method for the gird shell construction and basic criteria for the meshing method suited for the kinematics of the structures. The objectives of this study are to ...
Human robot interaction and tracking using low cost 3D vision systems

Martínez Bertí, Enrique; Sánchez Salmerón, Antonio José; Benimeli, Francesc (2012)

[EN] This paper describes a platform which allows humans to interact with robotic arms using augmented reality. Low cost kinect cameras (Xbox 360) are used for tracking human skeletons and locations of robot s end ...
Interference of functional dual-tasks on gait in untrained people with Parkinson's disease and healthy controls: a cross-sectional study

San Martín Valenzuela, Constanza; Dueñas Moscardó, Lirios; Lopez Pascual, Juan; Serra-Añó, Pilar; Tomás, José M. (Springer (Biomed Central Ltd.), 2020-06-22)

[EN] Background In Parkinson's disease (PD) population, performing secondary tasks while walking further deteriorates gait and restrict mobility in functional contexts of daily life. This study (1) analyzed the interference ...
Kinematic and static analysis of plane recirpocal frames

PARIGI, Dario; SASSONE, Mario; NAPOLI, Paolo (Editorial Universitat Politècnica de València, 2010-01-08)

Reciprocal frames and reciprocal structures have already been considered of great interest in the past, as witnessed by the work of Leonardo da Vinci and of other important scientists and architects. Recent researches show ...
Kinematic description of soft tissue artifacts: quantifying rigid versus deformation components and their relation with bone motion

De Rosario Martínez, Helios; Page Del Pozo, Alvaro Felipe; Besa Gonzálvez, Antonio José; Mata Amela, Vicente; Conejero Navarro, Efrain (SPRINGER HEIDELBERG, 2012-11)

[EN] This paper proposes a kinematic approach for describing soft tissue artifacts (STA) in human movement analysis. Artifacts are represented as the field of relative displacements of markers with respect to the bone. ...
Landslide Monitoring Using Geotechnical, UAV, GNSS and MTInSAR Instrumentation

Depountis, Nikolaos; Kavoura, Katerina; Nikolakopoulos, Konstantinos; Drakatos, George; Argyrakis, Panagiotis; Elias, Panagiotis; Sabatakakis, Nikolaos (Editorial Universitat Politècnica de València, 2023-01-27)

[EN] Many mountainous villages have been struck by landslides in Western Greece due to growing urbanization and uncontrolled land use in landslide prone areas, without considering the engineering geological environment. ...
Linkage-based movable bridges: Design methodology and three novel forms

Thrall, Ashley P.; Adriaenssens, Sigrid; Paya-Zaforteza, I.; Zoli, Theodore (Elsevier, 2012-04)

Linkages have been widely used in machines and deployable structures, but these mechanisms have rarely been employed in the design of movable bridges. This paper explores the use of linkages both to actuate the kinematic ...
Mechatronic design, experimental setup, and control architecture design of a novel 4 DoF parallel manipulator

Vallés Miquel, Marina; Araujo-Gómez, P.; Mata Amela, Vicente; Valera Fernández, Ángel; Díaz-Rodríguez, Miguel; Page Del Pozo, Alvaro Felipe; Farhat, Nidal (Taylor & Francis, 2018)

[EN] Although parallel manipulators started with the introduction of architectures with six degrees of freedom, a vast number of applications require less than six degrees of freedom. Consequently, scholars have proposed ...
Mechatronic development and dynamic control of a 3-DOF parallel manipulator

Vallés Miquel, Marina; Díaz-Rodríguez, Miguel; Valera Fernández, Ángel; Mata Amela, Vicente; Page Del Pozo, Alvaro Felipe (Taylor & Francis, 2012-09)

The aim of this article is to develop, from the mechatronic point of view, a low-cost parallel manipulator (PM) with 3-degrees of freedom (DOF). The robot has to be able to generate and control one translational motion ...
Mínimos Cuadrados Recursivos para un Manipulador que Aprende por Demostración

Rubio, José de Jesús; García, Enrique; Aquino, Gustavo; Aguilar-Ibáñez, Carlos; Pacheco, Jaime; Meda-Campaña, Jesús Alberto (Universitat Politècnica de València, 2019-03-20)

[EN] In this work, a control system is developed to allow a manipulator to learn and plan trajectories from demonstrations given by the hand of an user. The input of data is acquired by a sensor, and its behavior is learned ...