Documents Tecnics / Documentos Técnicos / Technical Reports

(10/2008)

  • ``Efficient motion planning for high DOF hands using principal motion directions´´
    J. Rosell, R. Suárez, C. Rosales, J. A. García and A. Pérez
    IOC-DT-P-2008-13, (13 pages), October 2008.

  • ``Exploration of the grasp space using independent contact and non-graspable regions´´
    Máximo Roa, Raúl Suárez and Jan Rosell
    IOC-DT-P-2008-05, (12 pages), April 2008.

  • ``Finding a fourth contact that allows the loss of two out of three existing ones remaining as force-closure grasp´´
    R. Prado and R. Suárez
    IOC-DT-P-2008-02, (19 pages), March 2008.

  • ``Solving hand inverse kinematics for precision grasps´´
    Carlos Rosales, Josep M. Porta, Raúl Suárez and Lluís Ros
    IOC-DT-P-2007-09, (30 pages), September 2007.

  • ``Contact force transitions in regrasp tasks of planar objects´´
    P. Grosch, R. Suárez, R. Carloni and C. Melchiorri
    IOC-DT-P-2007-08, (8 pages), July 2007.

  • ``Independent contact regions for discretized 3D objects with frictionless contacts´´
    M. Roa and R. Suárez
    IOC-DT-P-2007-05, (13 pages), March, 2007.

  • ``Determination of seven frictionless fixturing points searching the object surface with a homogeneus deterministic distribution´´
    R. Suárez and J. Rosell
    IOC-DT-P-2007-03, (13 pages), February, 2007.

  • ``Grasp synthesis for 3D objects´´
    M. Roa and R. Suárez
    IOC-DT-P-2006-23, (39 pages), July, 2006.

  • ``Synthesis of 4-frictionless optimal grasps of polygonal objects´´
    J. Cornellà and R. Suárez
    IOC-DT-P-2006-21, (31 pages), June, 2006.

  • ``Frictionless grasp with 7 fingers on discretized 3D objects´´
    M. Roa and R. Suárez
    IOC-DT-P-2006-19, (14 pages), June, 2006.

  • ``Grasp Quality Measures´´
    R. Suárez, M. Roa and J. Cornellà
    IOC-DT-P-2006-10, (21 pages), March, 2006.

  • ``Grasping force optimization using dual methods´´
    J. Cornellà and R. Suárez
    IOC-DT-P-2005-24, (14 pages), November, 2005.

  • ``Geometric construction of 4-finger force-closure grasps for polyhedral objects´´
    R. Prado and R. Suárez
    IOC-DT-P-2005-23, (14 pages), November, 2005.

  • ``Fast and Flexible Determination of Force-Closure Independent Regions to Grasp Polygonal Objects´´
    J. Cornellà y R. Suárez
    IOC-DT-P-2005-02, (15 pages), January, 2005.

  • ``Fast on-line determination of quasi-optimal grasp configurations based on off-line analysis and parametrization on the wrist position´´
    G. Fäber y R. Suárez
    IOC-DT-P-2005-01, (16 pages), January, 2005.

  • ``Finding Grasping Configuration of a Dexterous Hand and an Industrial Robot´´
    Jan Rossell, Xavier Sierra, Leopold Palomo and Raúl Suárez
    IOC-DT-P-2004-14, (11 pages), October, 2004.

  • ``Predicting Motion Behavior Under Contact Uncertainty´´
    J. Rossell, L. Basañez, R. Suárez
    IOC-DT-P-2004-18, (21 pages), October, 2004.

  • ``Determination of the inverse kinematics of a mechanic hand in order to grasp a predetermined object with two or more fingers´´
    G. Fäber y R. Suárez
    IOC-DT-P-2003-11, (41 pages), September, 2003.

  • ``Medidas de calidad en la aprehensión de objetos´´
    J. Cornellà y R. Suárez
    IOC-DT-P-2003-08, (45 páginas), septiembre, 2003.

  • ``Método heurísico para construir prensiones con equilibrio de fuerzas en objetos poliédricos´´
    R. Prado y R. Suárez
    IOC-DT-P-2003-05, (19 páginas), junio, 2003.

  • ``Programación por demostración aplicada a aprehensión y manipulación: revisión bibliográfica´´
    N. Muñoz y R. Suárez
    IOC-DT-P-2003-04, (36 páginas), junio, 2003.

  • ``On 2D 4-finger frictionless optimal grasp´´
    J. Cornellá and R. Suárez
    IOC-DT-C-2003-03, (16 pages), marzo, 2003.

  • ``Feeding-Sequence Selection Using Linear Discriminants in a Parallel-Machine Manufacturing Cell´´
    R. Suárez, J. Rosell, M. Tuset and R. Pérez
    IOC-DT-C-2002-01, (12 pages), marzo, 2002.

  • ``Determination of 2D Grasping Points from Images of Planar Objects´´
    R. Suárez, J. M. Ramírez and I. Vazquez
    IOC-DT-P-2002-04, (12 pages), marzo, 2002.

  • ``Prensiones con equilibrio de fuerza en el espacio´´
    R. Prado y R. Suárez
    IOC-DT-P-2001-16, (22 páginas), diciembre, 2001.

  • ``Fine-motion Planning for Robotic Assembly. Part II: Synthesis´´
    J. Rosell, L. Basañez y R. Suárez
    IOC-DT-P-2001-12, (18 pages), July, 2001.

  • ``Fine-motion Planning for Robotic Assembly. Part I: Analysis´´
    J. Rosell, L. Basañez y R. Suárez
    IOC-DT-P-2001-11, (18 pages), July, 2001.

  • ``Manos mecánicas: resumen y análisis de diferentes propuestas´´
    R. Suárez y R. Prado
    IOC-DT-I-2001-02, (22 páginas), febrero, 2001.

  • ``Path validation: a method to guarantee the reachibility of a goal in constrained motion with uncertainty´´
    J. Rosell, R. Suárez y L. Basañez
    IOC-DT-P-2000-27, diciembre 2000.

  • ``Looking for Optimum Feeding Sequences in a Manufacturing Cell with Four Parallel Machines´´
    R. Suárez y J. Rosell
    IOC-DT-P-2000-25, noviembre 2000.

  • ``Binarización de patrones de líneas en el ámbito de la obtención de mapas de profundidad mediante luz estructurada´´
    C. Raso y R. Suárez
    IOC-DT-P-2000-15, mayo 2000.

  • ``Principio de obtención de mapas de profundidad mediante visión por computadora y luz estructurada´´
    C. Raso y R. Suárez
    IOC-DT-P-2000-14, mayo 2000.

  • ``Análisis y optimización de secuencias de trabajo en una celda de manufactura´´
    R. Suárez y J. Rosell
    IOC-DT-C-2000-05, abril 2000.

  • ``Prensiones con equilibrio de fuerzas en el plano´´
    R. Prado y R. Suárez
    IOC-DT-P-2000-02, enero 2000.

  • ``Calibración de cámaras para visión por computador´´
    C. Raso y R. Suárez
    IOC-DT-P-2000-01, enero 2000.

  • ``Review of Robot Coordination Methologies to Avoid Collisions in a Shared Workspace´´
    E. Todt, G. Raush and R. Suárez
    IOC-DT-P-1999-21, 1999.

  • ``Programación, planificación y control en robótica´´
    R. Suárez
    IOC-DT-P-1999-20, 1999.

  • ``Local Search Heuristics for the Assembly Line Balancing Problem with Incompatibilities Between Tasks´´
    J. Bautista, R. Suárez, M. Mateo y R. Companys
    IOC-DT-P-1999-15, 1999.

  • ``Un algorisme genètic en l’espai d’heurístiques per a cèl·lules de muntatge amb recursos limitats´´
    J. Bautista, R. Suárez, M. Mateo y A. Lusa
    IOC-DT-P-1999-14, 1999.

  • ``Secuenciación de tareas de ensamblado con recursos limitados mediante algoritmos de exploración de entornos´´
    J. Bautista, R. Suárez, M. Mateo y A. Lusa
    IOC-DT-P-1999-12, 1999.

  • ``Assembly Sequence Planning with Limited Resources Using Genetic Algorithms´´
    J. Bautista, A. Lusa, R. Suárez, M. Mateo, R. Pastor and A. Corominas
    IOC-DT-P-1998-15, 1998.

  • ``Improving the Performance of Compliant Motions by On-Line Geometric Uncertainty Reduction´´
    J. Rosell, L. Basañez and R. Suárez
    IOC-DT-P-1998-14, 1998.

  • ``Compliant-motion planning and execution for robotic assembly´´
    J. Rosell, L. Basañez and R. Suárez
    IOC-DT-P-1998-12, 1998.

  • ``Contact Configurations: A Geometric Interpretation´´
    L. Basañez, J. Rosell and R. Suárez
    IC-DT-9714, 1997.

  • ``Fine Motion Planning Under Modelling and Sensing Uncertainties´´
    J. Rosell, L. Basañez and R. Suárez
    IC-DT-9709, 1997.

  • ``Contact Analysis Considering Position Uncertainty and Part Tolerances´´
    L. Basañez, J. Rosell and R. Suárez
    IC-DT-9708, 1997.

  • ``Assembly Cost Evaluation Based on Necessary Adjustments Due to Torerances´´
    R. Suárez, Chunsik Yi and Sukhan Lee
    IC-DT-9702, 1997.

  • ``Towards a Standardized Cost Measure of Assembly Operations´´
    R. Suárez and Sukhan Lee
    IC-DT-9623, 1996.

  • ``A Statistical Measure of Assembly Difficulty´´
    R. Suárez and Sukhan Lee
    IC-DT-9622, 1996.

  • ``Analysis of planar assembly tasks in the presence of uncertainty by using the dual representation of forces´´
    J. Rosell, R. Suárez and L. Basañez
    IC-DT-9519, 1995.

  • ``Learning versus Analytical Approach to Contact Estimation in Assembly Tasks with Robots´´
    R. Suárez, L. Basañez, M. Nuttin, H. Van Brussel, and J. Rosell
    IC-DT-9501, 1995.

  • ``Contact Situations from Observed Reaction Forces in Assembly Uncertainty´´
    L. Basañez, R. Suárez and J. Rosell
    IC-DT-9412, 1994.

  • ``Assembly Contact Force Domains in the Presence of Uncertainty´´
    R. Suárez, L. Basañez and J. Rosell
    IC-DT-9403, 1994.

  • ``Fine Motion Planning in the Presence of Uncertainty´´
    R. Suárez and L. Basañez
    IC-DT-9308, 1993.

  • ``Modelat d'incertesa geometrica per a moviments en el pla: analisi i implementacio´´
    J. Rosell i R. Suárez
    IC-DT-9303, 1993.

  • ``Fuerzas de reacción en contactos básicos con incertidumbre´´
    R. Suárez
    IC-DT-9105, 1991.

  • ``Automatic Insertion Planning for Robotic Assembly´´
    L. Basañez, R. Suárez
    IC-DT-1988.05, 1988.




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