Marco A. Meggiolaro

Learn More
Model based error compensation of a robotic manipulator, also known as robot calibration, requires the identification of its generalized errors. These errors are found from measured data and used to predict, and compensate for, the end-point errors as a function of configuration. However, the generalized error formulation introduces redundant parameters,(More)
Abstract. Powerful robotic manipulators are needed in nuclear maintenance, field, undersea and medical applications to perform high accuracy tasks requiring the manipulation of heavy payloads. The nozzle dam positioning task for maintenance of a nuclear power plant steam generator is an example of a task that requires a strong manipulator with very fine(More)
Important robotic tasks could be effectively performed by powerful and accurate manipulators. However, high accuracy is generally difficult to obtain in large manipulators capable of producing high forces due to system elastic and geometric distortions. In this work, a high-accuracy patient positioning system is calibrated, consisting of a six degree of(More)
Most manipulator calibration techniques require expensive and/or complicated pose measuring devices, such as theodolites. This paper investigates a calibration method where the manipulator endpoint is constrained to a single contact point and executes self-motions. From the easily measured joint angle readings, and an identification model, the manipulator(More)
This work presents the development of a brain computer interface as an alternative communication channel to be used in Robotics. It encompasses the implementation of an electroencephalograph (EEG), as well as the development of all computational methods and necessary techniques to identify mental activities. The developed brain computer interface (BCI) is(More)
Important robotic tasks could be most effectively done by powerful and accurate manipulators. However, high accuracy is generally unattainable in manipulators capable of producing high task forces due to such factors as high joint, actuator, and transmission friction and link elastic and geometric distortions. A method called Base Sensor Control (BSC) has(More)
Mapping brain activity patterns in external actions has been studied in recent decades and is the base of a brain-computer interface. This type of interface is extremely useful for people with disabilities, where one can control robotic systems that assist, or even replace, non functional body members. Part of the studies in this area focuses on noninvasive(More)
Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and force enhancement. This paper presents an alternative and simple exoskeleton and a Human-Machine Interface (HMI) for human strength(More)
In this work, an information-based iterative algorithm is proposed to plan a mobile robot’s visual exploration strategy, enabling it to most efficiently build a graph model of its environment. The algorithm is based on determining the information present in sub-regions of a 2-D panoramic image of the environment from the robot’s current location using a(More)