Anytime Informed Multi-Path Replanning Strategy for Complex Environments

Autor: Cesare Tonola, Marco Faroni, Manuel Beschi, Nicola Pedrocchi

Publikováno v: IEEE Access, Vol 11, Pp 4105-4116 (2023)

In many real-world applications (e.g., human-robot collaboration), the environment changes rapidly, and the intended path may become invalid due to moving obstacles. In these situations, the robot should quickly find a new path to reach the goal, pos

Externí odkaz: https://doaj.org/article/4223aecfdfee4486b4b6766c6efbdddf

Viability and Feasibility of Constrained Kinematic Control of Manipulators

Autor: Marco Faroni, Manuel Beschi, Nicola Pedrocchi, Antonio Visioli

Publikováno v: Robotics, Vol 7, Iss 3, p 41 (2018)

Recent advances in planning and control of robot manipulators make an increasing use of optimization-based techniques, such as model predictive control. In this framework, ensuring the feasibility of the online optimal control problem is a key issue.

Externí odkaz: https://doaj.org/article/ed0b21537a68424e975f3b21880315da

Hiding task-oriented programming complexity: an industrial case study

Autor: Enrico Villagrossi, Michele Delledonne, Marco Faroni, Manuel Beschi, Nicola Pedrocchi

The ease of use of robot programming interfaces represents a barrier to robot adoption in several manufacturing sectors because of the need for more expertise from the end-users. Current robot programming methods are mostly the past heritage, with ro

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::57b66a356930b1c5fbaa1ca8039dd4b4
http://arxiv.org/abs/2303.02340

A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators

Autor: Antonio Visioli, Manuel Beschi, Marco Faroni, Nicola Pedrocchi

Publikováno v: Mechanism and Machine Theory
Mechanism and Machine Theory, Elsevier, 2021
Mechanism and machine theory 156 (2020). doi:10.1016/j.mechmachtheory.2020.104152
info:cnr-pdr/source/autori:Marco Faroni Manuel Beschi Antonio Visioli Nicola Pedrocchi/titolo:A real-time trajectory planning method for enhanced path-tracking performance of serial manipulators/doi:10.1016%2Fj.mechmachtheory.2020.104152/rivista:Mechanism and machine theory/anno:2020/pagina_da:/pagina_a:/intervallo_pagine:/volume:156

International audience; Robotized assembly and manufacturing often require to modify the robot motion at runtime. When the primary constraint is to preserve the geometrical path as much as possible, it is convenient to scale the nominal trajectory in

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2a960cd77b3e953abdce6a2f92e50ab1
https://hal.archives-ouvertes.fr/hal-03046881/file/Faroni_et_al_MAMT_preprint.pdf

Optimal task and motion planning for human-robot collaboration

Autor: Marco Faroni, Manule Beschi, Nicola Pedrocchi

Publikováno v: Convegno nazionale SIDRA Automatica.it 2021, Catania, 02/09/2021
info:cnr-pdr/source/autori:Marco Faroni, Manule Beschi, Nicola Pedrocchi/congresso_nome:Convegno nazionale SIDRA Automatica.it 2021/congresso_luogo:Catania/congresso_data:02%2F09%2F2021/anno:2021/pagina_da:/pagina_a:/intervallo_pagine

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=cnr_________::6ec2590483a99dcdb9822868141a3390
http://www.cnr.it/prodotto/i/460971