6 accepted papers
This paper presents the results of the experimental tests performed to validate the functionality of a variable pitch system (VPS), designed for pitch attitude control of the novel underwater robotic vehicle explorer UX-1. The VPS is composed of a mass suspended from a central rod mounted across the…
This paper proposes a manipulability optimization control of a 7-DoF robot manipulator for Robot-Assisted Minimally Invasive Surgery (RAMIS), which at the same time guarantees a Remote Center of Motion (RCM). The first degree of redundancy of the manipulator is used to achieve an RCM constraint, the…
Although force control algorithms have been studied for three decades, this technology is not largely exploited in industry yet. The present paper proposes a position-based adaptive force control strategy, that relies on a novel method for the on line estimation of the environment stiffness. The con
Classical control approaches to robot force control have been extensively addressed by research in the last decades and are now considered a paradigm when dealing with force control for industrial robots. With this respect, the present paper exploits the capability of state-of-the-art Quadratic Prog…
Dynamic Movement Primitives (DMPs) are a common method for learning a control policy for a task from demonstration. This control policy consists of differential equations that can create a smooth trajectory to a new goal point. However, DMPs only have a limited ability to generalize the demonstratio…
To perform many common industrial robotic tasks, e.g. deburring a work-piece, in small and medium size companies where a model of the work-piece may not be available, building a geometrical model of how to perform the task from a data set of human demonstrations is highly demanded. In many cases, ho…