We present a generalized version of the Saturation in the Null Space (SNS) algorithm for the 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...
01a Articolo in rivista
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This paper investigates the design of reduced-order observers for robot manipulators. Observer stability conditions are obtained based on a Lyapunov analysis. The proposed observer is enhanced with a hybrid scheme that may adjust the gains to cope with possible unbounded velocities of the robot...
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Recent research results on human-robot interaction and collaborative robotics are leaving behind the traditional paradigm of robots living in a separated space inside safety cages, allowing humans and robot to work together for completing an increasing number of complex industrial tasks. In this...
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We propose a new approach for executing the main Cartesian tasks assigned to a redundant robot while guaranteeing whole-body collision avoidance. The robot degrees of freedom are fully utilized by introducing relaxed constraints in the definition of operational and collision...
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A linear-quadratic optimal control problem is considered for the infinite-dimensional model of a one-link flexible arm. Two boundary inputs are assumed to be available, namely the joint torque at the link base and a transverse force at the tip of the link. The problem is formulated and solved using...
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A control system based on multiple sensors is proposed for the safe collaboration of a robot with a human. New constrained and contactless human-robot coordinated motion tasks are defined to control the robot end-effector so as to maintain a desired relative position to the human head while...
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In this paper, we focus on the linear functionals defining an approximate version of the gradient of a function. These functionals are often used when dealing with optimization problems where the computation of the gradient of the objective function is costly or the objective function values are...
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A trading strategy simply consists in a procedure which defines conditions for buying or selling a security on a financial market. These decisions rely on the values of some indicators that, in turn, affect the tuning of the strategy parameters. The choice of these parameters significantly affects...
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This paper proposes a deep-Q-network (DQN) controller for network selection and adaptive resource allocation in heterogeneous networks, developed on the ground of a Markov decision process (MDP) model of the problem. Network selection is an enabling technology for multi-connectivity, one of the...
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Decision-making in a complex, dynamic, interconnected, and data-intensive industrial environment can be improved with the assistance of machine-learning techniques. In this work, a complex instance of industrial assembly line control is formalized and a parallel deep reinforcement learning approach...