With reference to robots that are redundant for a given task, we present a novel and intuitive approach allowing to define a discrete-time joint velocity command that shares the same characteristics of a second-order inverse differential scheme, with specified properties in terms of joint...
Robot Control
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The Robotics group at DIAG, and the associated DIAG Robotics Lab, were established in the late 1980s with a commitment to develop innovative planning and control methods for industrial and service robots.
The main research topics are: nonlinear control of robots; control of manipulators... -
A fully robotized polishing of metallic surfaces may be insufficient in case of parts with complex geometric shapes, where a manual intervention is still preferable. Within the EU SYMPLEXITY project, we are considering tasks where manual polishing operations are performed in strict physical Human-...
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In the framework of Human-Robot Collaboration, a robot and a human operator may need to move in close coordination within the same workspace. A contactless coordinated motion can be achieved using vision, mounting a camera either on the robot end-effector or on the human. We consider here one...
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