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Dive into the research topics where Adrián Peidró is active.

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Featured researches published by Adrián Peidró.


Journal of Intelligent and Robotic Systems | 2016

A Web-based Tool to Analyze the Kinematics and Singularities of Parallel Robots

Adrián Peidró; Arturo Gil; José María Marín; Oscar Reinoso

This paper presents PAROLA, a new web-based educational tool whose aim is to experiment with the kinematics and singularities of parallel robots. The tool is designed to help students simulate the inverse and forward kinematic problems of three parallel robots in an intuitive and graphical way. The problems of singularities and path planning can also be studied with the tool. PAROLA is the first tool to present the motion of the parallel robots simultaneously in the Cartesian and joint spaces to better explain the singularity and path planning problems, allowing students to freely modify the geometry of the robots to analyze the variation of singularities in both spaces. Furthermore, the tool includes a real parallel robot that the students can control over the Internet to conduct remote experiments. The paper describes some examples that show the utility of the proposed tool in learning parallel robotics.


IEEE Transactions on Education | 2014

Implementation and Assessment of a Virtual Laboratory of Parallel Robots Developed for Engineering Students

Arturo Gil; Adrián Peidró; Oscar Reinoso; José María Marín

This paper presents a tool, LABEL, oriented to the teaching of parallel robotics. The application, organized as a set of tools developed using Easy Java Simulations, enables the study of the kinematics of parallel robotics. A set of classical parallel structures was implemented such that LABEL can solve the inverse and direct kinematic problem of 5R, 3RRR, and Delta robots. An intuitive graphical user interface lets the student change the joint coordinates or Cartesian coordinates of the end effector while observing a graphical representation of the robot. In addition, a set of five practical sessions based upon this tool was developed. During the practical sessions, the student analyzes the inverse kinematics of parallel structures and the direct kinematic problem. Moreover, LABEL makes it easy to analyze the singularities that appear in the solution of the inverse and direct kinematic problem. These singularities are analyzed through the use of a path planning application, which allows the user to plan a trajectory in the robots workspace. This helps the student to analyze the position and velocity of the end effector while observing the joint trajectories and speeds of the actuators. LABEL was implemented during the academic year 2011-2012 and has been well accepted. Finally, an assessment of LABEL is presented.


Robot | 2016

Monte-Carlo Workspace Calculation of a Serial-Parallel Biped Robot

Adrián Peidró; Arturo Gil; José María Marín; Yerai Berenguer; Luis Payá; Oscar Reinoso

This paper presents the Monte-Carlo calculation of the work-space of a biped redundant robot for climbing 3D structures. The robot has a hybrid serial-parallel architecture since each leg is composed of two parallel mechanisms connected in series. First, the workspace of the parallel mechanisms is characterized. Then, a Monte-Carlo algorithm is applied to compute the reachable workspace of the biped robot solving only the forward kinematics. This algorithm is modified to compute also the constant-orientation workspace. The algorithms have been implemented in a simulator that can be used to study the variation of the workspace when the geometric parameters of the robot are modified. The simulator is useful for designing the robot, as the examples show.


International Journal of Advanced Robotic Systems | 2015

Inverse Kinematic Analysis of a Redundant Hybrid Climbing Robot

Adrián Peidró; Arturo Gil; José María Marín; Oscar Reinoso

This paper presents the complete inverse kinematic analysis of a novel redundant truss-climbing robot with 10 degrees of freedom. The robot is bipedal and has a hybrid serial-parallel architecture, where each leg consists of two parallel mechanisms connected in series. By separating the equation for inverse kinematics into two parts - with each part associated with a different leg - an analytic solution to the inverse kinematics is derived. In the obtained solution, all the joint coordinates are calculated in terms of four or five decision variables (depending on the desired orientation) whose values can be freely decided due to the redundancy of the robot. Next, the constrained inverse kinematic problem is also solved, which consists of finding the values of the decision variables that yield a desired position and orientation satisfying the joint limits. Taking the joint limits into consideration, it is shown that all the feasible solutions that yield a given desired position and orientation can be represented as 2D and 3D sets in the space of the decision variables. These sets provide a compact and complete solution to the inverse kinematics, with applications for motion planning.


international conference on informatics in control, automation and robotics | 2017

Second-order Taylor Stability Analysis of Isolated Kinematic Singularities of Closed-chain Mechanisms.

Adrián Peidró; Oscar Reinoso; Arturo Gil; José María Marín; Luis Payá; Yerai Berenguer

When the geometric design of a closed-chain mechanism is non-generic, the singularity locus of the mechanism may exhibit isolated points. It is well known that these isolated points are unstable since they disappear or generate/reveal cusps when the geometric design of the mechanism slightly deviates from a non-generic design, possibly affecting the ability of the mechanism to reconfigure without crossing undesirable singularities. This paper presents a method based on second-order Taylor expansions to determine how these isolated singularities transform when perturbing the different geometric parameters of a non-generic mechanism. The method consists in approximating the singularity locus by a conic section near the isolated singularity, and classifying the resulting conic in terms of the perturbations of the different geometric parameters. Two nongeneric closed-chain mechanisms are used to illustrate the presented method: an orthogonal 3R serial arm with specified position for its tip, and the planar Stewart parallel platform.


Journal of Intelligent and Robotic Systems | 2017

On the Stability of the Quadruple Solutions of the Forward Kinematic Problem in Analytic Parallel Robots

Adrián Peidró; Arturo Gil; José María Marín; Luis Payá; Oscar Reinoso

Many parallel robots can change between different assembly modes (solutions of the forward kinematic problem) without crossing singularities, either by enclosing cusps or alpha-curves of the planar sections of their singularity loci. Both the cusps and the alpha-curves are stable singularities, which do not disappear under small perturbations of the geometry of the robot. Recently, it has been shown that some analytic parallel robots can also perform these nonsingular changes of assembly mode by encircling isolated points of their singularity loci at which the forward kinematic problem admits solutions with multiplicity four. In this paper, we study the stability of these quadruple solutions when the design of the robot deviates from the analytic geometry, and we show that such quadruple solutions are not stable since the isolated singular points at which they occur degenerate into closed deltoid curves. However, we also demonstrate that, although the quadruple solutions are unstable, the behavior of the robot when moving around them is practically unaffected by the perturbations from the analytic geometry. This means that the robot preserves its ability to perform nonsingular transitions by enclosing the quadruple solutions, even when its geometry is not exactly analytic due to small manufacturing tolerances.


international conference on informatics in control automation and robotics | 2016

Calculation of the Boundaries and Barriers of the Workspace of a Redundant Serial-parallel Robot using the Inverse Kinematics

Adrián Peidró; Oscar Reinoso; Arturo Gil; José María Marín; Luis Payá; Yerai Berenguer

This paper presents the workspace analysis of a redundant serial-parallel robot. Due to the complexity of the robot, the complex constraints (joint limits and no-interference between the legs of the robot), and the globally serial structure of the robot, a discretization method based on the forward kinematics would be most appropriate to compute the workspace. However, this widely used method can only obtain the external boundaries of the workspace, missing the internal barriers that hinder the motion of the robot, which may exist inside the boundaries. To avoid missing these barriers, we use a discretization method that uses the solution of the inverse kinematic problem of the robot. By studying the feasibility of attaining a desired position and orientation by the different branches of the solution to the inverse kinematics, the proposed discretization method is able to obtain both the external boundaries and the internal barriers of the workspace. Some examples are presented to show the importance of these internal barriers in the motions of the robot inside the workspace.


international conference on informatics in control automation and robotics | 2015

Kinematic Analysis and Simulation of a Hybrid Biped Climbing Robot

Adrián Peidró; Arturo Gil; José María Marín; Yerai Berenguer; Oscar Reinoso

This paper presents a novel climbing robot that explores 3-D truss structures for maintenance and inspection tasks. The robot is biped and has a hybrid serial-parallel architecture since each leg is composed of two parallel mechanisms connected in series. First, the forward kinematic problem of the complete robot is solved, obtaining the relative position and orientation between the feet in terms of the ten joint coordinates of the robot. The inverse kinematics is more complex due to the redundancy of the robot. Hence, a simplified inverse kinematic problem that assumes planar and symmetric movements is analyzed. Then, a tool to simulate the kinematics of the robot is presented, and it is used to demonstrate that the robot can completely explore 3-D structures, even when some movements are restricted to be planar and symmetric.


Archive | 2019

Parallelisms Between Planar and Spatial Tricept-Like Parallel Robots

Adrián Peidró; José María Marín; Oscar Reinoso; Luis Payá; Arturo Gil

This paper analyzes some parallelisms between 3UPS-PU Tricept-like parallel robots and their planar version, 2RPR-PR manipulators, in terms of forward kinematics and singularities. We show that, like 2RPR-PR manipulators, all 3UPS-PU robots with flat mobile platform have special singularities for which the mobile and fixed platforms are coplanar. These special singularities turn out to be eightfold solutions of the forward kinematics, their perturbations result in double deltoids and, unlike in 2RPR-PR manipulators, encircling them does not produce nonsingular transitions.


Remote Sensing | 2018

Modeling Environments Hierarchically with Omnidirectional Imaging and Global-Appearance Descriptors

Luis Payá; Adrián Peidró; Francisco Amorós; David Valiente; Oscar Reinoso

In this work, a framework is proposed to build topological models in mobile robotics, using an omnidirectional vision sensor as the only source of information. The model is structured hierarchically into three layers, from one high-level layer which permits a coarse estimation of the robot position to one low-level layer to refine this estimation efficiently. The algorithm is based on the use of clustering approaches to obtain compact topological models in the high-level layers, combined with global appearance techniques to represent robustly the omnidirectional scenes. Compared to the classical approaches based on the extraction and description of local features, global-appearance descriptors lead to models that can be interpreted and handled more intuitively. However, while local-feature techniques have been extensively studied in the literature, global-appearance ones require to be evaluated in detail to test their efficacy in map-building tasks. The proposed algorithms are tested with a set of publicly available panoramic images captured in realistic environments. The results show that global-appearance descriptors along with some specific clustering algorithms constitute a robust alternative to create a hierarchical representation of the environment.

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Dive into the Adrián Peidró's collaboration.

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Oscar Reinoso

Universidad Miguel Hernández de Elche

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Luis Payá

Universidad Miguel Hernández de Elche

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Arturo Gil

Universidad Miguel Hernández de Elche

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José María Marín

Universidad Miguel Hernández de Elche

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Yerai Berenguer

Universidad Miguel Hernández de Elche

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David Valiente

Universidad Miguel Hernández de Elche

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Luis M. Jiménez

Universidad Miguel Hernández de Elche

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