Guglielmo Volpe

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— In this paper, the trajectory planning of a two-link rehabilitation robot arm is addressed. Firstly, a Cartesian planning of the trajectory is defined to perform a proper motion exercise for the patient's arm. Secondly, a trajectory planning in joint space is studied to obtain a similar Cartesian path with less computational complexity. The robot arm(More)
  • G. T. Volpe
  • 2012
In this effort a new approach to linear control system design is taken. Rather than use conventional methods, such as bode plots or root locus, we solve for the return ratio (negative open loop gain) from the closed loop transfer function specification, assuming a single feedback loop configuration. The resulting return ratio is then visualized as an(More)
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