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Next generation robotic manipulators are expected to resemble a human-like behavior at kinematic level, in order to reach the same level of dexterity of humans in operations like assembly of small pieces. These manipulators are also expected to share the same working environments with humans without artificial barriers.In this work we conjecture that making robots not only kinematically similar but...
This paper deals with the torque loop control design in a joint prototype of a space manipulator. First a model of the joint for free and contact motion is proposed, pointing out the strong nonlinear behaviour in contact motion. Then the controller design for the free motion is dealt with and the robustness of the torque regulation loop with respect to the contact stiffness is examined. Guidelines...
This paper presents a first step towards the design and development of the control system of an All-Terrain Mobile Robot. Different requirements are taken into account with the aim of setting up an experimental test-bed to support research on autonomous vehicles and on electronic devices to enhance the safety in presence of human riders. Since the vehicle should remain drivable, both the design of...
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