Giovanni Legnani

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This article presents and compares three algorithms for the geometric parameter Ž . identification of industrial robots to increase its accuracy static calibration . The estimation is based on the measure of the gripper pose errors when the robot follows suitable trajectories. The algorithms are general and can be applied to any robot providing that its(More)
In this paper, the matrix equation AX=XB used for hand to sensor calibration of robotmounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances AiX=XBi i=1,2 , . . . of the equation are to(More)
Nowadays robots in industrial settings are mainly used for repetitive tasks where they act as programmable devices reproducing previously recorded motions in a highly structured environment so that decision and initiative capability is rarely exploited. Contour tracking is, on the contrary, an example of a complex task that requires the manipulator to(More)
The paper describes a detailed model of an electro-goniometer based on a elastic beam connecting two 'bases' whose relative orientation should be measured. This kind of device, which has been developed for the analysis of human motion, is also suitable for different applications even when one or more rotations around moving axes occur. After a theoretical(More)
In this paper, we discuss, from an experimental point of view, the use of different control strategies for the trajectory tracking control of an industrial selective compliance assembly robot arm robot, which is one of the most employed manipulators in industrial environments, especially for assembly tasks. Specifically, we consider decentralized(More)
In this paper, we propose a new method, which is based on an iterative-learning-control (ILC) algorithm, for the contour tracking of an object of unknown shape performed by an industrial robot manipulator. In particular, we consider (both implicit and explicit) hybrid force/velocity control whose performance is improved by repeating the task. Here, a(More)
In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the(More)