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Since December 2014, FourByThree Project (“Highly customizable robotic solutions for effective and safe human robot collaboration in manufacturing applications”) is developing a new generation of modular industrial robotic solutions that are suitable for efficient task execution in collaboration with humans in a safe way and are easy to use and program by factory workers. This paper summarizes the...
The letter presents a force-tracking impedance controller granting a free-overshoots contact force (mandatory performance for many critical interaction tasks such as polishing) for partially unknown interacting environments (such as leather or hard-fragile materials). As in many applications, the robot has to gently approach the target environment (whose position is usually not well-known), then execute...
This paper proposes a method for the automatic and simultaneous identification of the body-in-white assembly cell design and motion plan. The method solution is based on an iterative algorithm that looks for a global optimum by iteratively identifying the optimum of three sub-problems. These sub-problems concern system layout design and motion planning for single and multi-robot systems, while collision...
Notwithstanding the research on dynamic modelling of Industrial Robots (IRs hereafter) covers the last three decades, improvements are necessary to enable IRs adoption in technological tasks where high dynamics or interaction with environment is needed, e.g. deburring, milling, laser cutting etc. Indeed, this class of applications displays even more the necessity of high-accuracy tracking especially...
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