The research group works on predictable and safe components for automotive and industrial automation systems:

  • analysis and design of advanced robotic end-effectors with particular attention to the sensory system and control architecture
  • nonlinear control applied to robotic systems interacting with the environment (impedance/force control, telemanipulation)
  • design of methods, based on dynamic filters, for optimal trajectory planning for electro‐mechanical systems and robots under kinematic and dynamic constraints
  • design of control architectures for industrial applications, based on repetitive control and iterative learning methods.

Prof. Laura Giarrè

Prof. Luigi Biagiotti

Prof. Roberto Zanasi

Topic: Predictable and safe components for automotive and industrial automation systems

References:

  1. Biagiotti, C. Melchiorri, M. Pilati, G. Mazzuchetti, G. Collepalumbo, P. Ragazzini, “Integration of robotic systems in a packaging machine: A tool for design and simulation of efficient motion trajectories”, Emerging Technologies & Factory Automation (ETFA), 2013 IEEE 18th Conference on, 10-13 Sept. 2013, Cagliari Italy.
  2. Biagiotti, C. Melchiorri, “Online trajectory planning and filtering for robotic applications via B-spline smoothing filters”, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2013), 3-7 Nov. 2013, Tokyo, Japan.
  3. Biagiotti, L. Moriello, C. Melchiorri, “Multidimensional Trajectories Generation with Vibration Suppression Capabilities: The Role of Exponential B-Splines”, proceedings of 20th IFAC World Congress, Toulouse, France. 9-14 July, 2017.
  4. Biagiotti, L. Moriello, C. Melchiorri, A. Paoli, “Control of Liquid Handling Robotic Systems: A Feed-Forward Approach to Suppress Sloshing”, Robotics and Automation (ICRA), 2017 IEEE International Conference on, Singapore, May 29 – June 3, 2017.
  5. Biagiotti, C. Melchiorri, L. Moriello, “A Repetitive Control Scheme for Industrial Robots Based on B-Spline Trajectories”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), Sept 28 – Oct 03, 2015, Hamburg, Germany.
  6. Biagiotti, H. Liu, G. Hirzinger, C. Melchiorri, “Cartesian Impedance Control for Dexterous Manipulation”, IROS’03, International Conference on Intelligent Robots and Systems, 27-31 Ottobre, 2003.
  7. Biagiotti, L. Moriello, C. Melchiorri, “Feedforward Control of Variable Stiffness Joints Robots for Vibrations Suppression”, Robotics and Automation (ICRA), 2017 IEEE International Conference on, Singapore, May 29 – June 3, 2017.