5 accepted papers
We present a generalized version of the Saturation in the Null Space (SNS) algorithm for task control of redundant robots when hard inequality constraints are simultaneously present both in the joint and in the Cartesian space. These hard bounds should never be violated, are treated equally and in a
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active and passive degrees of freedom. The generic iteration of th
In this letter, we address the problem of extracting a feasible set of dynamic parameters characterizing the dynamics of a robot manipulator. We start by identifying through an ordinary least squares approach the dynamic coefficients that linearly parametrize the model. From these, we retrieve a set
We revisit the classical problem of estimating the dynamic parameters of an unknown payload rigidly held by the robot end effector. The approach relies on the analysis of the symbolic expressions of the robot dynamic coefficients (i.e., combinations of dynamic parameters) when working with and witho…
We consider the problem of extracting a complete set of numerical parameters that characterize the robot dynamics, starting from the identified values of dynamic coefficients that linearly parametrize the robot dynamic equations. This information is relevant when realistic dynamic simulations have t