Montserrat Manubens
Spanish National Research Council
Network
Latest external collaboration on country level. Dive into details by clicking on the dots.
Publication
Featured researches published by Montserrat Manubens.
Journal of Symbolic Computation | 2006
Montserrat Manubens; Antonio Montes
In 1992, V. Weispfenning proved the existence of Comprehensive Grobner Bases (CGB) and gave an algorithm for computing one. That algorithm was not very efficient and not canonical. Using his suggestions, A. Montes obtained in 2002 a more efficient algorithm (DISPGB) for Discussing Parametric Grobner Bases. Inspired by its philosophy, V. Weispfenning defined, in 2002, how to obtain a Canonical Comprehensive Grobner Basis (CCGB) for parametric polynomial ideals, and provided a constructive method. In this paper we use Weispfenning?s CCGB ideas to make substantial improvements on Montes? DISPGB algorithm. It now includes rewriting of the discussion tree using the discriminant ideal and provides a compact and effective discussion. We also describe the new algorithms in the DPGB library containing the improved DISPGB as well as new routines for checking whether a given basis is a CGB or not, and for obtaining a CGB. Examples and tests are also provided.
IEEE Transactions on Robotics | 2012
Oriol Bohigas; Montserrat Manubens; Lluís Ros
This paper introduces a new method for workspace boundary determination on general structure manipulators. The method uses a branch-and-prune technique to isolate a set of output singularities and then classifies the points on such a set according to whether they correspond to motion impediments in the workspace. A detailed map of the workspace is obtained as a result, where all interior and exterior regions, together with the singularity and barrier sets that separate them, get clearly identified. The method can deal with open- or closed-chain manipulators, whether planar or spatial, and is able to take joint limits into account. Advantages over previous general methods based on continuation include the ability to converge to all boundary points, even in higher dimensional cases, and the fact that manual guidance with a priori knowledge of the workspace is not required. Examples are included that show the performance of the method on benchmark problems documented in the literature, as well as on new ones unsolved so far.
robotics science and systems | 2013
Montserrat Manubens; Didier Devaurs; Lluís Ros; Juan Cortés
Performing aerial 6-dimensional manipulation using flying robots is a challenging problem, to which only little work has been devoted. This paper proposes a motion planning approach for the reliable 6-dimensional quasi-static manipulation with an aerial towed-cable system. The novelty of this approach lies in the use of a cost-based motion-planning algorithm together with some results deriving from the static analysis of cable-driven manipulators. Based on the so-called wrench-feasibility constraints applied to the cable tensions, as well as thrust constraints applied to the flying robots, we formally characterize the set of feasible configurations of the system. Besides, the expression of these constraints leads to a criterion to evaluate the quality of a configuration. This allows us to define a cost function over the configuration space, which we exploit to compute good-quality paths using the T-RRT algorithm. As part of our approach, we also propose an aerial towed-cable system that we name the FlyCrane. It consists of a platform attached to three flying robots using six fixed-length cables. We validate the proposed approach on two simulated 6-D quasi-static manipulation problems involving such a system, and show the benefit of taking the cost function into account for such motion planning tasks.
IEEE Robotics & Automation Magazine | 2014
Josep M. Porta; Lluís Ros; Oriol Bohigas; Montserrat Manubens; Carlos J. Rosales; Léonard Jaillet
Many situations in robotics require the analysis of the motions of complex multibody systems. These are sets of articulated bodies arising in a variety of devices, including parallel manipulators, multifingered hands, or reconfigurable mechanisms, but they appear in other domains too as mechanical models of molecular compounds or nanostructures. Closed kinematic chains arise frequently in such systems, either due to their morphology or due to geometric or contact constraints to fulfill during operation, giving rise to configuration spaces of an intricate structure. Despite appearing very often in practice, there is a lack of general software tools to analyze and represent such configuration spaces. Existing packages are oriented either to open-chain systems or to specific robot types, which hinders the analysis and development of innovative manipulators. This article describes the CUIK suite, a software toolbox for the kinematic analysis of general multibody systems. The implemented tools can isolate the valid configurations, determine the motion range of the whole multibody system or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision- and singularity-free paths between configurations. The toolbox has applications in robot design and programming and is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona. It is available under GPLv3 license from http://www.iri.upc.edu/cuik.
international conference on robotics and automation | 2012
Oriol Bohigas; Dimiter Zlatanov; Lluís Ros; Montserrat Manubens; Josep M. Porta
This paper provides a method to compute all types of singularities of non-redundant manipulators with non-helical lower pairs and designated instantaneous input and output speeds. A system of equations describing each singularity type is given. Using a numerical method based on linear relaxations, the configurations in each type are computed independently. The method is general and complete: it can be applied to manipulators with arbitrary geometry; and will isolate singularities with the desired accuracy. As an example, the entire singularity set and its complete classification are computed for a two-degree-of-freedom mechanism. The complex partition of the configuration space by various singularities is illustrated by three-dimensional projections.
IEEE Transactions on Robotics | 2013
Oriol Bohigas; Michael E. Henderson; Lluís Ros; Montserrat Manubens; Josep M. Porta
This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two nonsingular configurations of the manipulator, the method attempts to connect them through a path that maintains a minimum clearance with respect to the singularity locus at all points, which guarantees the controllability of the manipulator everywhere along the path. The method can be applied to nonredundant manipulators of general architecture, and it is resolution complete. It always returns a path whenever one exists at a given resolution or determines path nonexistence otherwise. The strategy relies on defining a smooth manifold that maintains a one-to-one correspondence with the singularity-free C-space of the manipulator, and on using a higher dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. If desired, the method can also be used to compute an exhaustive atlas of the whole singularity-free component reachable from a given configuration, which is useful to rapidly resolve subsequent planning queries within such component, or to visualize the singularity-free workspace of any of the manipulator coordinates. Examples are included that demonstrate the performance of the method on illustrative situations.
IEEE Transactions on Robotics | 2014
Oriol Bohigas; Dimiter Zlatanov; Lluís Ros; Montserrat Manubens; Josep M. Porta
The analysis of singularities is central to the development and control of a manipulator. However, existing methods for singularity set computation still concentrate on specific classes of manipulators. The absence of general methods able to perform such computation on a large class of manipulators is problematic because it hinders the analysis of unconventional manipulators and the development of new robot topologies. The purpose of this paper is to provide such a method for nonredundant mechanisms with algebraic lower pairs and designated input and output speeds. We formulate systems of equations that describe the whole singularity set and each one of the singularity types independently, and show how to compute the configurations in each type using a numerical technique based on linear relaxations. The method can be used to analyze manipulators with arbitrary geometry, and it isolates the singularities with the desired accuracy. We illustrate the formulation of the conditions and their numerical solution with examples, and use 3-D projections to visualize the complex partitions of the configuration space induced by the singularities.
Mechanisms and Machine Science, vol 12 | 2013
Oriol Bohigas; Montserrat Manubens; Lluís Ros
Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack—to keep the control of the platform—nor excessively tight—to prevent cable breakage—even in the presence of bounded perturbations of the wrench. This paper proposes a path planning method that accommodates such constraints simultaneously. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying inside a predefined uncertainty region. The resulting C-space is placed in correspondence with a smooth manifold, which allows defining a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path non-existence is proved by exhaustion of the search. The approach is illustrated on the NIST Robocrane hexapod, but it remains applicable to general cable-driven hexapods, either to navigate their full six-dimensional C-space, or any of its slices.
Journal of Mechanisms and Robotics | 2012
Montserrat Manubens; Guillaume Moroz; Damien Chablat; Philippe Wenger; Fabrice Rouillier
This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible non-singular assembly-mode changing motion, which increases the maximum singularity-free workspace. An accurate algorithm for the determination is proposed amending some imprecisions done by previous existing algorithms. This is combined with methods of Cylindric Algebraic Decomposition, Grobner bases and Discriminant Varieties in order to partition the parameter space into cells with constant number of cusp points. These algorithms will allow us to classify a family of degenerate 3-RPR manipulators.
IEEE Transactions on Robotics | 2016
Oriol Bohigas; Montserrat Manubens; Lluís Ros
Motion paths of cable-driven hexapods must carefully be planned to ensure that the lengths and tensions of all cables remain within acceptable limits, for a given wrench applied to the platform. The cables cannot go slack-to keep the control of the robot-nor excessively tight-to prevent cable breakage-even in the presence of bounded perturbations of the wrench. This paper proposes a path-planning method that accommodates such constraints simultaneously. Given two configurations of the robot, the method attempts to connect them through a path that, at any point, allows the cables to counteract any wrench lying in a predefined uncertainty region. The configuration space, or C-space for short, is placed in correspondence with a smooth manifold, which facilitates the definition of a continuation strategy to search this space systematically from one configuration, until the second configuration is found, or path nonexistence is proved by exhaustion of the search. The force Jacobian is full rank everywhere on the C-space, which implies that the computed paths will naturally avoid crossing the forward singularity locus of the robot. The adjustment of tension limits, moreover, allows to maintain a meaningful clearance relative to such locus. The approach is applicable to compute paths subject to geometric constraints on the platform pose or to synthesize free-flying motions in the full 6-D C-space. Experiments illustrate the performance of the method in a real prototype.