<bibtex> @inproceedings{ title = {Revising the robust control design for rigid robot manipulators}, doi = {10.1109/ROBOT.2007.364169}, abstract = {Robust controllers for robot manipulators ensure stability properties of the closed loop system, even if only partial knowledge of the dynamic model of the manipulator is available. Existing derivations of robust control laws, while guaranteeing the stability result, present an undesired interaction between the gains of the controller of the nominal system and the robust control term. Based on a structured representation of the model uncertainty, this paper presents a derivation of the robust control law where these limitations are removed. A case study is discussed to show the benefits of the proposed approach. New insight in the robust control problem for more general mechanical systems might arise from structuring the model uncertainty as proposed in this paper.}, booktitle = {Robotics and Automation, 2007 {IEEE} International Conference on}, author = {Bascetta, L. and Rocco, P.}, month = apr, year = {2007}, keywords = {and, {automation;Robust}, Closed, Control, {control;Robot}, {control;Robotics}, {control;Robust}, control;uncertain, design;stability;, {dynamics;Mechanical}, dynamics;model, dynamics;robust, loop, manipulators;robust, robot, {stability;Uncertainty;closed}, synthesis;manipulator, system, system;manipulator, system;rigid, systems;closed, {systems;Control}, {systems;Manipulator}, {systems;PD}, uncertainty;nominal}, pages = {4478 --4483} }, </bibtex>
International Journals
L. BASCETTA, P. Rocco, A.M. Zanchettin, G. Magnani. Velocity control of a washing machine: a mechatronic approach, Mechatronics, United Kingdom, Vol. 22, No. 6, September 2012, pp. 778-787.
L. BASCETTA, P. Rocco, G. Magnani. Force ripple compensation in linear motors based on closed loop position dependent identification, IEEE Transactions on Mechatronics, USA, Vol. 15, No. 3, June 2010, pp. 349-359.
L. BASCETTA, G. Magnani, P. Rocco, A.M. Zanchettin. Performance limitation in Field Oriented Control for asynchronous machines with low resolution position sensing, IEEE Transactions on Control Systems Technology, USA, Vol. 18, No. 3, May 2010, pp. 559-573.
L. BASCETTA, P. Rocco. Revising the robust-control design for rigid robot manipulators, IEEE Transactions on Robotics, USA, Vol. 26, No. 1, February 2010, pp. 180-187.
L. BASCETTA, G. Magnani, P. Rocco. Velocity estimation: assessing the performance of non model-based techniques, IEEE Transactions on Control Systems Technology, USA, Vol. 17, No. 2, March 2009, pp. 424-433.
L. BASCETTA, A. Leva. FIR based causal design of 2-d.o.f. controllers for optimal set point tracking, Journal of Process Control, United Kingdom, Vol. 18, No. 5, June 2008, pp. 465-478.
A. Leva, L. BASCETTA. Set point tracking optimisation by causal nonparametric modelling, Automatica, USA, Vol. 43, No. 11, November 2007, pp. 1984-1991.
A. Leva, L. BASCETTA. Designing the feedforward part of 2-d.o.f. industrial controllers for optimal tracking, Control Engineering Practice, The Netherlands, Vol. 15, No. 8, August 2007, pp. 909-921.
A. Leva, L. BASCETTA. On the design of the feedforward compensator in two-degree-of-freedom controllers, Mechatronics, United Kingdom, Vol. 16, No. 9, November 2006, pp. 533-546.
L. BASCETTA, P. Rocco. Two-time scale visual servoing of eye-in-hand flexible manipulators, IEEE Transactions on Robotics, USA, Vol. 22, No. 4, August 2006, pp. 818-830.
A. Leva, L. BASCETTA, F. Schiavo. Model-based Proportional-Integral/Proportional-Integral-Derivative (PI/PID) autotuning with fast relay identification, Industrial & Engineering Chemistry Research, USA, Vol. 45, No. 12, June 2006, pp. 4052-4062.
L. BASCETTA, P. Rocco. End-point vibration sensing of planar flexible manipulators through visual servoing, Mechatronics, United Kingdom, Vol. 16, No. 3-4, April-May 2006, pp. 221-232.
L. BASCETTA, P. Rocco. Modelling flexible manipulators with motors at the joints, Mathematical and Computer Modelling of Dynamical Systems, The Netherlands, Vol. 8, No. 2, June 2002, pp. 157-183.
2012 Publications
International Journals
Conference Proceedings
2011 Publications
International Journals
Conference Proceedings
L. BASCETTA, G. Ferretti, P. Rocco, H. Ardö, H. Bruyninckx, E. Demeester, E. Di Lello. Towards safe human-robot interaction in robotic cells: an approach based on visual tracking and intention estimation. IEEE/RSJ International Conference on Intelligent Robots and Systems IROS 2011. San Francisco, USA, September 2011, pp. 2971-2978.
A.M. Zanchettin, P. Rocco, L. BASCETTA, I. Symeonidis, S. Peldschus. Kinematic analysis and synthesis of the human arm motion during a manipulation task. IEEE International Conference on Robotics and Automation ICRA 2011. Shanghai, China, May 2011, pp. 2692-2697.
2010 Publications
International Journals
Conference Proceedings
L. BASCETTA, G. Magnani, P. Rocco, R. Migliorini, M. Pelagatti. Anti-collision systems for robotic applications based on laser Time-Of-Flight sensors. IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2010. Montreal, Canada, July 2010, pp. 278-284.
A.M. Zanchettin, P. Rocco, L. BASCETTA, I. Symeonidis, S. Peldschus. Kinematic motion analysis of the human arm during a manipulation task. 41st International Symposium on Robotics ISR 2010. Monaco, Germany, June 2010, pp. 1-6.
2009 Publications
International Journals
Conference Proceedings
L. BASCETTA, G. Magnani, P. Rocco, A.M. Zanchettin. Design and implementation of the low-level control system of an All-Terrain Mobile Robot. 14th International Conference on Advanced Robotics ICAR 2009. Monaco, Germany, June 2009, pp. 1-6.
L. BASCETTA, G. Magnani, P. Rocco, S. Frattesi. Mechatronic analysis of the velocity control of a washing machine. IEEE International Conference on Mechatronics ICM 2009. Malaga, Spain, April 2009, pp. 1-6.
2008 Publications
International Journals
Conference Proceedings
L. BASCETTA, A. Leva. Nonparametric decoupling of MIMO systems. IEEE Conference on Computer-Aided Control Systems. San Antonio, Texas, USA, September 2008, pp. 1073-1078.
2007 Publications
International Journals
Conference Proceedings
L. BASCETTA, G. Magnani, P. Rocco. Force ripple compensation in linear motors with application to a parallel kinematic machine. IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2007. Zurich, Swiss, September 2007, Session Actuators, pp. 1-6.
L. BASCETTA, G. Magnani, P. Rocco. Velocity estimation: assessing the performance of non model-based techniques. IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2007. Zurich, Swiss, September 2007, Session Sensing II, pp. 1-6.
A. Leva, L. BASCETTA. On the use of model-based PID tuning rules with nonparametric process models. European Control Conference ECC 2007. Kos, Greece, July 2007, pp. 5833-5838.
L. BASCETTA, A. Leva. Simultaneous optimisation of set point tracking and decoupling in autotuning multivariable regulators. American Control Conference ACC 2007. New York City, USA, July 2007, pp. 645-650.
A. Leva, L. BASCETTA. Model-based autotuning for industrial SISO regulators accommodating for free-structure process models. American Control Conference ACC 2007. New York City, USA, July 2007, pp. 5565-5570.
L. BASCETTA, P. Rocco. Revising the robust control design for rigid robot manipulators. IEEE International Conference on Robotics and Automation ICRA 2007. Roma, Italy, April 2007, pp. 4478-4483.
2006 Publications
International Journals
Conference Proceedings
L. BASCETTA, P. Rocco. Digital pole placement control of multi-mode flexible arms, International Congress ANIPLA 2006. Rome, Italy, November 2006, Session T1.1: Robot control, pp. 1-6.
A. Leva, L. BASCETTA. Improving the antiwindup properties of autotuning PID regulators, IEEE International Conference on Control Applications CCA 2006. Munich, Germany, October 2006, pp. 1849-1854.
A. Leva, L. BASCETTA. Servo tracking optimisation with the Base Functions approach, IEEE International Conference on Control Applications CCA 2006. Munich, Germany, October 2006, pp. 1025-1030.
L. BASCETTA, P. Rocco. Issues in the experimental implementation of the fast time scale controller for a flexible arm, 8th International IFAC Symposium on Robot Control SYROCO 2006. Bologna, Italy, September 2006, Session ThA-1.1: Modeling and Identification of Robotic Systems I, pp. 1-6.
A. Leva, L. BASCETTA. FIR-based optimised design of the set point path in 2-d.o.f. digital regulators, 4th International IFAC Symposium on Mechatronic Systems. Heidelberg, Germany, September 2006, Session C3: Digital Filtering and Embedded Control, pp. 1-6.
2005 Publications
International Journals
Conference Proceedings
A. Leva, L. BASCETTA. Causal design methodology for optimal tracking in 2-d.o.f. industrial controllers, 44th IEEE Conference on Decision and Control and European Control Conference CDC-ECC 2005. Seville, Spain, December 2005, pp. 2368-2373.
A. Leva, L. BASCETTA. Nonparametric identification for the causal optimization of set point tracking, 44th IEEE Conference on Decision and Control and European Control Conference CDC-ECC 2005. Seville, Spain, December 2005, pp. 2374-2379.
L. BASCETTA, P. Rocco. Visual control of robotic manipulators: designing a simplified stabilizing controller, 16th IFAC World Congress. Prague, Czech Republic, July 2005, Session slot We-A04-TO: Robot Sensors and Control/Area 4.3: Robotics, pp. 1-6.
2004 Publications
International Journals
Conference Proceedings
L. BASCETTA, P. Rocco. Exploiting visual servoing to damp the vibrations of a planar flexible manipulator, 3rd IFAC Symposium on Mechatronic Systems. Sidney, Australia, September 2004, pp. 541-546.
L. BASCETTA, P. Rocco. Tip position control of flexible manipulators through visual servoing, 6th Cranfield Conference on Dynamics and Control of Systems and Structures in Space. Riomaggiore, Italy, July 2004, pp. 673-682.
2003 Publications
International Journals
Conference Proceedings
L. BASCETTA, P. Rocco. Task space visual servoing of eye-in-hand flexible manipulators, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 2003. Kobe, Japan, July 2003, Vol. 2, pp. 1442-1448.
L. BASCETTA, G. Bodini, F. Casella, C. Maffezzoni. Leak location in water distribution networks based on dynamic tests and parametric identification, European Control Conference ECC 2003. Cambridge, United Kingdom, September 2003, Technical session 1: Fault diagnosis 1, pp. 1-6.
2002 Publications
International Journals
Conference Proceedings
L. BASCETTA, F. Bernasconi, A. Locatelli, P. Rocco. Efficient models for flexible manipulators with motors at the joints, 15th IFAC World Congress. Barcelona, Spain, July 2002, Session slot T-Tu-M04: Flexible and Nonlinear Robots/Area code 1d: Robotics, pp. 1-6.
L. BASCETTA, A. Locatelli, P. Rocco. Computationally efficient Newton-Euler models for flexible manipulators with motors at the joints, 3rd World Conference on Structural Control. Como, Italy, April 2002, Vol. 2, pp. 599-604.