Paolo Rocco

Bio: Paolo Rocco is an academic researcher from Polytechnic University of Milan. The author has contributed to research in topics: Robot & Industrial robot. The author has an hindex of 30, co-authored 203 publications receiving 3366 citations. Previous affiliations of Paolo Rocco include Instituto Politécnico Nacional & University of Milan.

Safety in Human-Robot Collaborative Manufacturing Environments: Metrics and Control

Abstract: New paradigms in industrial robotics no longer require physical separation between robotic manipulators and humans. Moreover, in order to optimize production, humans and robots are expected to collaborate to some extent. In this scenario, involving a shared environment between humans and robots, common motion generation algorithms might turn out to be inadequate for this purpose.

Stability of PID control for industrial robot arms

Abstract: PID control is the most widespread technique for the control of industrial robot arms. However, the adoption of PID control is not adequately supported by a theoretical basis, since the results presented in the literature are of dubious interpretation and difficult, when not impossible, to verify. Motivated by this lack of theoretical support, this paper presents a novel proof for the stability of rigid robot arms controlled by PID algorithms: the proof is based on a model of the robot where the nominal decoupled linear part is emphasized. The main result consists in a simple condition between the exponential stability degree of the nominal closed loop system and the parameters of a bound on the nonlinear terms in the dynamic model of the mechanical manipulator. Some considerations are also worked out on the relations between the eigenvalues of the nominal system and the extension of the stability region. The theoretical results are finally verified on a simple two DOF example.

Impedance control for elastic joints industrial manipulators

Abstract: An impedance controller for industrial manipulators is presented in this paper. Special attention has been paid to all the aspects that qualify an industrial robot, including decentralized proportional-integral-derivative position control, torsional flexibility, and friction at the joints. A discussion of a single-degree-of-freedom (DOF) case is first presented. The selection of the impedance parameters is based on the behavior in contact and makes reference to a new design parameter, the compliance bandwidth. The single-DOF analysis is then used in the design of the impedance controller for a complete manipulator. A rotational impedance based on a geometrically consistent representation of the orientation is used. Several experimental results obtained on a 6-DOF industrial robot, equipped with a force/torque sensor, are presented. The experiments show the effectiveness of the proposed approach in several conditions, including contact with an extremely stiff surface and noncontact/contact transition.

Kinetostatic danger field - a novel safety assessment for human-robot interaction

Abstract: This paper presents a novel method for evaluating the danger within the environment of a robot manipulator. It is based on the introduced concept of kinetostatic danger field, a quantity that captures the complete state of the robot - its configuration and velocity. The field itself is invariant with respect to objects around the robot and can be computed in any given point of the workspace using measurements from the proprioceptive sensors. Moreover, all the computation can be performed in closed form, yielding compact algebraic expressions that allow for real time applications. The danger field is not only a meaningful indicator about the risk in the vicinity of the robot, but can also be fed back within control skills that implement some well known safety strategies like collision avoidance and virtual impedance control, provided that some environment perception is available in order to determine the points where the field should be computed. Kinematic redundancy for simultaneous task performance and danger minimization can be exploited. The methodology described in the paper is supported with simulation results.

Impedance control for elastic joints industrial manipulators.

Abstract: An impedance controller for industrial manipulators is presented in this paper Special attention has been paid to all the aspects that qualify an industrial robot, including decentralized proportional-integral-derivative position control, torsional flexibility, and friction at the joints A discussion of a single-degree-of-freedom (DOF) case is first presented The selection of the impedance parameters is based on the behavior in contact and makes reference to a new design parameter, the compliance bandwidth The single-DOF analysis is then used in the design of the impedance controller for a complete manipulator A rotational impedance based on a geometrically consistent representation of the orientation is used Several experimental results obtained on a 6-DOF industrial robot, equipped with a force/torque sensor, are presented The experiments show the effectiveness of the proposed approach in several conditions, including contact with an extremely stiff surface and noncontact/contact transition

Robot vision

Abstract: A scheme is developed for classifying the types of motion perceived by a humanlike robot. It is assumed that the robot receives visual images of the scene using a perspective system model. Equations, theorems, concepts, clues, etc., relating the objects, their positions, and their motion to their images on the focal plane are presented. >

Ministry of Education and Science of the Russian Federation

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