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Federico Thomas
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Journal Articles

A Survey on the Computation of Quaternions From Rotation Matrices

Soheil Sarabandi, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021006.
Paper No: JMR-18-1163
https://doi.org/10.1115/1.4041889
Published Online: March 1, 2019
View Article titled, A Survey on the Computation of Quaternions From Rotation Matrices
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Topics: Rotation, Computation, Errors, Algebra
Includes: Supplementary data
Proceedings Papers

Some New Results on the Kinematics of 3R Serial Robots Using Nested Determinants

Federico Thomas, M. Alba Perez-Gracia
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A072, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67706
https://doi.org/10.1115/DETC2017-67706
View Paper titled, Some New Results on the Kinematics of 3R Serial Robots Using Nested Determinants
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Topics: Kinematics, Robots, Algebra, Computers, Polynomials
Journal Articles

A Distance Geometry Approach to the Singularity Analysis of 3R Robots

Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011001.
Paper No: JMR-14-1146
https://doi.org/10.1115/1.4029500
Published Online: August 18, 2015
View Article titled, A Distance Geometry Approach to the Singularity Analysis of 3R Robots
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Topics: Geometry, Kinematics, Robots, Computation
Journal Articles

Application of Distance Geometry to Tracing Coupler Curves of Pin-Jointed Linkages

Nicolás Rojas, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021001.
Paper No: JMR-11-1082
https://doi.org/10.1115/1.4023515
Published Online: March 26, 2013
View Article titled, Application of Distance Geometry to Tracing Coupler Curves of Pin-Jointed Linkages
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Topics: Linkages, Geometry
Proceedings Papers

A Coordinate-Free Approach to Tracing the Coupler Curves of Pin-Jointed Linkages

Nicola´s Rojas, Federico Thomas
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 417-426, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48147
https://doi.org/10.1115/DETC2011-48147
View Paper titled, A Coordinate-Free Approach to Tracing the Coupler Curves of Pin-Jointed Linkages
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Topics: Linkages, Algorithms
Journal Articles

Closed-Form Solution to the Position Analysis of Watt–Baranov Trusses Using the Bilateration Method

Nicolás Rojas, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031001.
https://doi.org/10.1115/1.4004031
Published Online: July 1, 2011
View Article titled, Closed-Form Solution to the Position Analysis of Watt–Baranov Trusses Using the Bilateration Method
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Topics: Polynomials, Trusses (Building)
Proceedings Papers

Generation of Under-Actuated Parallel Robots With Non-Holonomic Joints and Kinetostatic Analysis of a Case Study

Patrick Grosch, Raffaele Di Gregorio, Federico Thomas
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 979-986, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86408
https://doi.org/10.1115/DETC2009-86408
View Paper titled, Generation of Under-Actuated Parallel Robots With Non-Holonomic Joints and Kinetostatic Analysis of a Case Study
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Topics: Design, Manipulators, Robots
Journal Articles

Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators

Patrick Grosch, Raffaele Di Gregorio, Federico Thomas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011005.
https://doi.org/10.1115/1.4000527
Published Online: November 19, 2009
View Article titled, Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
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Topics: Manipulators, End effectors