Showing papers by "Paolo Rocco published in 2012"
TL;DR: A complete parameterization of holonomic redundancy resolution techniques that avoid unpredictable behaviors at the joint level is proposed and it is shown that the selection of the redundancy resolution criterion is totally decoupled from the implementation of a closed-loop inverse kinematics algorithm.
Abstract: Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviors at the joint level. When the end effector describes a closed trajectory, the joint angles may not return to their initial values. Likewise, final configuration in the joint space may depend on the trajectory that is followed by the end effector. In this paper, a complete parameterization of holonomic redundancy resolution techniques that avoid these problems is proposed. The flexibility of the proposed approach is discussed. In particular, it is shown that the selection of the redundancy resolution criterion is totally decoupled from the implementation of a closed-loop inverse kinematics (CLIK) algorithm. Any user-defined redundancy resolution criterion can, thus, be enforced. Potentialities of this new methodology are experimentally verified on an industrial robot in a case study where functional redundancy occurs and is applied in simulation on a 7-degree-of-freedom (7-DOF) anthropomorphic manipulator.
25 citations
24 Dec 2012
TL;DR: A new control law for robotic manipulators in unstructured environments which guarantees the achievement of the goal position without incurring in local minima is presented and implemented and experimentally tested in a realistic scenario.
Abstract: This paper presents a new control law for robotic manipulators in unstructured environments which guarantees the achievement of the goal position without incurring in local minima. The passivity of the closed-loop system renders this control scheme well-suited for human-robot coexistence, especially when the robot is supposed to share its workspace with humans. The given control law has been implemented and experimentally tested in a realistic scenario, demonstrating the effectiveness in driving the robot to a given configuration in a cluttered environment without any offline planning phase.
22 citations
TL;DR: In this article, a mechatronic analysis of the velocity control loop of a washing machine is presented to characterise how the control performance is influenced by each mechanical, electrical and control components.
9 citations
TL;DR: This paper discusses the design of one such anti-collision system based on a laser Time-Of-Flight distance sensor, and integration of the external controller in the hardware and software architecture of a commercial industrial robot controller.
8 citations
14 May 2012
TL;DR: A method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a coordinated manipulation task.
Abstract: Dual-arm robotic systems have been intensively studied in the literature. However, in industrial robotics, the resolution of the kinematic redundancy allowed by the coordinated manipulation task is still an open issue. In fact, typical proprietary industrial robotic controllers do not allow the programmer to modify the inverse kinematics algorithm, and thus to solve redundancy following any specified criterion. In this paper a method to enforce an arbitrary redundancy resolution criterion on top of an industrial robot controller is discussed and applied to the execution of a coordinated manipulation task. The extra degrees of freedom are used to maximize the dynamic manipulability measure in order to reduce the needed torque. Simulations and experimental results achieved on an ABB IRC 5 industrial robot controller are presented.
5 citations