Giulio Cipriani

Bio: Giulio Cipriani is an academic researcher from University of Padua. The author has contributed to research in topics: Robot & Robot end effector. The author has an hindex of 1, co-authored 7 publications receiving 4 citations.

Effect of End-Effector Compliance on Collisions in Robotic Teleoperation

Abstract: In robotic teleoperation, hard impacts between a tool and the manipulated object may impair the success of a task. In order to develop a robotic system that is able to minimize the final velocity of an object after impact, a comprehensive approach is adopted in this work, and the effect on the impact of the parameters of the tool and of the robot is studied. Mass, contact stiffness and damping, robot compliance and control and tool compliance are taken into account. A mathematical model including the tool and the robot moving along the approach direction shows that, in most conditions, robot compliance is not enough to mitigate the impact. A mechanical decoupling between the inertia of the tool and the inertia of the robot is needed. An elastic system based on a bi-stable mechanism is developed and its validity is shown by means of numerical simulations.

Iterative Path Planning of a Serial Manipulator in a Cluttered Known Environment

Abstract: Robot path planning in a cluttered environment can be a challenging task In this paper, a new algorithm is proposed to perform path planning of a point-to-point motion of an industrial manipulator The algorithm starts from a simple joint interpolated movement and, by computing collision detection along the path, creates a set of via-points that form a path which allows the robot to move to the end position without any collision In the paper, the new algorithm is presented and compared in simulation to other methods

Applications of Learning Algorithms to Industrial Robotics

Abstract: Learning algorithms are becoming popular in industrial manufacturing thanks to their promise to make a robot conscious of its surroundings and capable of human-like abilities, gaining greater flexibility with respect to traditional robotic systems. The aim is to operate also complex tasks without the need for explicit instructions, permitting the creation of fully autonomous systems where human operators are not included. A panoramic of the current state of the art in industrial fields is presented, starting from object recognition and grasping pose detection, to task planning and applications based on demonstrations by the operator.

Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

Abstract: The vibrations of a Cartesian cutting machine caused by the pneumatic tool are studied with a sub-system approach. The cutting head is modeled as an equivalent robot arm which is able to mimic the measured resonances. The Cartesian structure is modeled according to the mode superposition approach. A global analytical model is obtained coupling the aforementioned models, and is solved in MATLAB. The full model is able to predict the variations in the response of the machine to tool excitation that are caused by the motion of the head along the rails of the Cartesian structure. Comparisons with experimental results are made.

Development and validation of an end-effector for mitigation of collisions

Abstract: In robotics the risk of collisions is present both in industrial applications and in remote handling. If a collision occurs, the impact may damage both the robot and external equipment, which may result in successive imprecise robot tasks or line stops, reducing robot efficiency. As a result, appropriate collision avoidance algorithms should be used or, if it is not possible, the robot must be able to react to impacts reducing the contact forces. For this purpose, this paper focuses on the development of a special end-effector that can withstand impacts. It is able to protect the robot from impulsive forces caused by collisions of the end-effector, but it has no effect on possible collisions between the links and obstacles. The novel end-effector is based on a bi-stable mechanism that decouples the dynamics of the end-effector from the dynamics of the robot. The intrinsically non-linear behavior of the endeffector is investigated with the aid of numerical simulations. The effect of design parameters and operating conditions are analyzed and the interaction between the functioning of the bi-stable mechanism and the control system is studied. In particular, the effect of the mechanism in different scenarios characterized by different robot velocities is shown. Results of numerical simulations assess the validity of the proposed end-effector, which can lead to large reductions in impact forces. Numerical results are validated by means of specific laboratory tests.

Human factors in cobot era: a review of modern production systems features

Abstract: Abstract Collaborative robots are increasingly common in modern production systems, since they allow to merge the productivity of automated systems with the flexibility and dexterity of manual ones. The direct interaction between the human and the robot can be the greatest advantage and the greatest limit of collaborative systems at the same time, depending on how it affects human factors like ergonomics and mental stress. This work presents an overview of collaborative robotics considering three main dimensions: robot features, modern production systems characteristics and human factors. A literature review on how such dimensions interact is addressed and a discussion on the current state of the art is presented, showing the topics that have been already widely explored and the research gaps that should be fulfilled in the future.

Vibration Energy Harvesting by Means of Piezoelectric Patches: Application to Aircrafts

Abstract: Vibration energy harvesters in industrial applications usually take the form of cantilever oscillators covered by a layer of piezoelectric material and exploit the resonance phenomenon to improve the generated power. In many aeronautical applications, the installation of cantilever harvesters is not possible owing to the lack of room and/or safety and durability requirements. In these cases, strain piezoelectric harvesters can be adopted, which directly exploit the strain of a vibrating aeronautic component. In this research, a mathematical model of a vibrating slat is developed with the modal superposition approach and is coupled with the model of a piezo-electric patch directly bonded to the slat. The coupled model makes it possible to calculate the power generated by the strain harvester in the presence of the broad-band excitation typical of the aeronautic environment. The optimal position of the piezoelectric patch along the slat length is discussed in relation with the modes of vibration of the slat. Finally, the performance of the strain piezoelectric harvester is compared with the one of a cantilever harvester tuned to the frequency of the most excited slat mode.

Analysis and Control of Vibrations of a Cartesian Cutting Machine Using an Equivalent Robotic Model

Abstract: The vibrations of a Cartesian cutting machine caused by the pneumatic tool are studied with a sub-system approach. The cutting head is modeled as an equivalent robot arm which is able to mimic the measured resonances. The Cartesian structure is modeled according to the mode superposition approach. A global analytical model is obtained coupling the aforementioned models, and is solved in MATLAB. The full model is able to predict the variations in the response of the machine to tool excitation that are caused by the motion of the head along the rails of the Cartesian structure. Comparisons with experimental results are made.