Research Project

CUIK: Planificador de trayectorias para sistemas robotizados de arquitectura arbitraria

Type

National Project

Start Date

13/12/2005

End Date

12/03/2008

Project Code

DPI2004-07358

Project illustration

Staff

Project Description

This project aims at developing efficient algorithms for solving the following strongly NP-hard problem: given an arbitrary collection of kinematic constraints among a set of solids, generate all spatial configurations of these solids that satisfy them all. When the number of feasible solutions is infinite the algorithm must also be able to find a discretization of the whole solution space.

In this project, the solids are the rigid links of a robot mechanism, and the kinematic constraints are either those induced by the kinematic loops of the robot (its closed sequences of solids and joints) or those induced by contact constraints with the environment.

Finding an efficient and general method to this end, without limitations on the type and amount of considered constraints, is still an open problem of Robotics whose solution has been pursued along the last decades because it finds important applications to high level robot programming, to forward and inverse kinematics, to trajectory planning of closed kinematic chains, to singularity detection, to workspace computations, and to the control of redundant manipulators. However, an efficient solution seems now possible by using a technique for solving multilinear equations that is being developed by the group of this proposal.

The developed algorithms would be integrated into a general-purpose software package for specifying, planning and simulating collision-free trajectories for arbitrary-architecture robotic systems.


For more information visit the Kinematics and Robot Design web page or the Cuik project web page.

Project Publications

Journal Publications

  • J.M. Porta, L. Ros, T. Creemers and F. Thomas. Box approximations of planar linkage configuration spaces. Journal of Mechanical Design, 127(4): 397-405, 2007.

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  • J.M. Porta, L. Ros, F. Thomas, F. Corcho, J. Cantó and J.J. Pérez. Complete maps of molecular-loop conformational spaces. Journal of Computational Chemistry, 28(13): 2170-2189, 2007.

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  • M. Alberich-Carramiñana, F. Thomas and C. Torras. Flagged parallel manipulators. IEEE Transactions on Robotics, 23(5): 1013-1023, 2007.

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  • C. Torras, F. Thomas and M. Alberich-Carramiñana. Stratifying the singularity loci of a class of parallel manipulators. IEEE Transactions on Robotics, 22(1): 23-32, 2006.

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  • V. Ruiz de Angulo and C. Torras. Speeding up the learning of robot kinematics. IEEE Transactions on Neural Networks, 16(6): 1504-1512, 2005.

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Conference Publications

  • E. Celaya, T. Creemers and L. Ros. Exact interval propagation for the efficient solution of planar linkages, 12th World Congress in Mechanism and Machine Science, 2007, Besançon, França, pp. 1-7, ASME.

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  • J.M. Porta, J. Cortés, L. Ros and F. Thomas. A space decomposition method for path planning of loop linkages, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, CA, USA, pp. 1882-1888, IEEE.

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  • V. Ila, J. Andrade-Cetto, R. Valencia and A. Sanfeliu. Vision-based loop closing for delayed state robot mapping, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2007, San Diego, CA, USA, pp. 3892-3897, IEEE.

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  • V. Ruiz de Angulo and C. Torras. Exploiting single-cycle symmetries in branch-and-prune algorithms, 13th International Conference on Principles and Practice of Constraint Programming, 2007, Providence, Estats Units d'Amèrica, in Principles and Practice of Constraint Programming - CP 2007, Vol 4741 of Lecture Notes in Computer Science, pp. 864-871, 2007, Springer Verlag, Berlin, Alemanya.

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  • J. Andrade-Cetto and F. Thomas. Wire-based tracking using mutual information, 10th International Symposium on Advances in Robot Kinematics, 2006, Lyubljana, Slovenia, in Advances in Robot Kinematics: Mechanisms and Motion, pp. 3-14, 2006, Springer.

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  • M. Alberich-Carramiñana, F. Thomas and C. Torras. On redundant flagged manipulators, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, FL, USA, pp. 783-789, IEEE.

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  • T. Creemers, J.M. Porta, L. Ros and F. Thomas. Fast multiresolutive approximations of planar linkage configuration spaces, 2006 IEEE International Conference on Robotics and Automation, 2006, Orlando, FL, USA, pp. 1511-1517, IEEE.

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  • J.M. Porta, L. Ros and F. Thomas. Multi-loop position analysis via iterated linear programming, II Robotics: Science and Systems Conference, 2006, Philadelphia, USA, in Robotics: Science and Systems II, pp. 169-176, MIT Press.

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  • F. Roure, R. Frigola, L. Ros and F. Thomas. Design, implementation, and performance analysis of a Stewart platform-based force sensor, 10th International Research/Expert Conference: Trends in the Development of Machinery and Associated Technology, 2006, LLoret de Mar, Espanya, pp. 1-4, 2006, UPC, Barcelona, Espanya.

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  • J.M. Porta, L. Ros and F. Thomas. On the trilaterable six-degree-of-freedom parallel and serial manipulators, 2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain, pp. 960-967, IEEE.

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  • V. Ruiz de Angulo and C. Torras. Using PSOMs to learn inverse kinematics through virtual decomposition of the robot, 8th International Workshop on Artificial Neural Networks, 2005, Barcelona, Espanya, in Computational Intelligence and Bioinspired Systems, Vol 3512 of Lecture Notes in Computer Science, pp. 701-708, 2005, Springer, Berlin, Alemanya.

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  • V. Ruiz de Angulo, J. Cortés and T. Simeon. BioCD : An efficient algorithm for self-collision and distance computation between highly articulated molecular models, I Robotics: Science and Systems Conference, 2005, Cambridge, USA, in Robotics: Science and Systems, pp. 141-148, 2005, MIT Press.

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  • J.M. Porta. CuikSLAM: A Kinematic-based approach to SLAM, 2005 IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain, pp. 2425-2431, IEEE.

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  • F. Thomas. Solving geometric constraints by iterative projections and backprojections, 2004 IEEE International Conference on Robotics and Automation, 2004, New Orleans, LO, USA, pp. 1789-1794, IEEE.

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