Bruno Siciliano

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The exploitation of kinematic redundancies in robotic systems may provide more dexterity and versatility in the execution of complex tasks. When functional constraint tasks are imposed in addition to the end-effector tasks, a task priority strategy is advisable. The authors propose a general framework for managing multiple tasks in highly redundant systems.(More)
In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator+s Jacobian, those based on the local optimization of(More)
The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order flexible dynamic system does not allow the determination of a tracking control as for rigid ma~ipulators, since there are not as many control(More)
The paper proposes a biomechatronic approach to the design of an anthropomorphic artificial hand. The hand is conceived to be applied to prosthetics and biomedical robotics; hence, anthropomorphism is a fundamental requirement to be addressed both in the physical aspect and in the functional behavior. As regards the hand mechanics, a cable-driven(More)
New definitions of force and velocity manipulability ellipsoids for multiple-arm systems are given in this paper. A suitable kinetostatic formulation for multiple cooperating arms is adopted that allows a global task space description of external and internal forces as well as absolute and relative velocities at the object level. The well-known concept of a(More)
For use in unstructured domains, highly redundant multi-arm robotic systems need both deliberative and reactive control schemes, in order to safely interact with the environment. The problem of collisions is crucial. A robust reactive algorithm, named the "skeleton algorithm", is proposed for the real-time generation of self-collision avoidance motions,(More)
This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-offreedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are(More)