Antonio Visioli

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A new approach based on interval analysis is developed to find the global minimum-jerk (MJ) trajectory of a robot manipulator within a joint space scheme using cubic splines. MJ trajectories are desirable for their similarity to human joint movements and for their amenability to path tracking and to limit robot vibrations. This makes them attractive choices(More)
In this paper we propose an algorithm for the load disturbance rejection performance assessment of a PI(D) controller and for the retuning of the parameters in case the obtained response is not satisfactory. The technique can be applied simply by evaluating the load disturbance closed-loop response. The automatic tuning for a set-point filter is also(More)
In this paper, a novel methodology, based on fuzzy logic, for the tuning of proportional-integral-derivative (PID) controllers is presented. A fuzzy inference system is adopted to determine the value of the weight that multiplies the set-point for the proportional action, based on the current output error and its time derivative. In this way, both the(More)
In this paper we propose a method, based on both physiologic and engineering considerations, for the motion planning of a prosthetic finger. In particular, we exploit a minimum jerk approach to define the trajectory in the Cartesian space. Then, cubic splines are adopted in the joint space. The redundancy problem arising from the presence of three links is(More)
In this paper, we present a novel approach, based on system inversion, for the point-to-point motion planning of vibratory servosystems. The idea is to define a suitable parameterized motion law of the load which assures that no oscillations occurs during and at the end of the motion; then, by means of a noncausal system inversion, the command function of(More)