Massimiliano Battistelli

Learn More
Two different visual servoing controls have been developed to govern a translating parallel manipulator with an eye-in-hand configuration, That is, a position-based and an image-based controller. The robot must be able to reach and grasp a target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in the 3D(More)
SUMMARY. Two Visual Servoing controls respectively of the Position Based and Image Based type have been developed to govern a parallel translating manipulator with an eye-in-hand configuration. The robot must be able to reach and grasp a special target randomly positioned in the workspace; the control must be adaptive to compensate motions of the target in(More)
The paper presents the concept of an underactuated spherical wrist with parallel kinematics architecture and the use of non-holonomic constraints: two linear actuators are sufficient to drive the 3 d.o.f.'s of the spherical motion since the instantaneous kinematics is limited to span a space of dimension 2 by the presence of a (non-holonomic) roller-sphere(More)
  • 1