Attilio Pisoni

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An important issue in the position control of elastic systems is the correct on-line measurement of displacements. End-Point Control of flexible manipulators, for example, requires the measurement of the manipulator's tip displacement. While this kind of measurement is relatively easy to carry out in a laboratory setting, it can be problematic in a real(More)
The Coupling Map (CM) has been proposed as an analytical tool to describe the dynamic behavior of long reach manipulators in the micro-gravity of space. The systems configuration considered consists of a relatively small high performance manipulator carried by a large flexible deployable structure, such as the one proposed for International Space Station(More)
This paper presents a technique called the Pseudo-Passive Energy Dissipation (P-PED) method. The P-PED method is proposed as an effective closed loop control scheme for increasing the overall damping characteristics of an elastically-constrained manipulator system and reducing unwanted base vibrations resulting from external disturbances or motion of the(More)
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