Some research activities are performed in the field of mechanical systems modeling and control, with particular regard to robotics and haptic interfaces. The research activities carried out in the field of Control are:

KING - Digital control systems design for new generation opening devices
RoCHI: Stability and control of wire driven haptic displays
RFCAM: Rate-to-Force Control in Admittance Mode for bilateral teleoperation
HHI: Identification of Human Hand Mechanical Impedance


P. Boscariol, L. Scalera, A. Gasparetto
Nonlinear control of multibody flexible mechanisms: A model-free approach
Applied Sciences (Switzerland), 11(3), pp. 1-14:1082, 2021

P. Boscariol, A. Gasparetto
Vibration suppression of speed-controlled robots with nonlinear control
Frontiers of Mechanical Engineering 11(2), pp. 204-212, 2016

E. Shojaei Barjuei, P. Boscariol, A. Gasparetto, M. Giovagnoni, R. Vidoni
Control design for 3D flexible link mechanisms using linearized models
Adcances on Theory and Practice of Robots and Manipulators - ROMANSY-2014 XX CISM-IFToMM Symposium. Moscow 23-26 June 2014

D. Zanotto, G. Rosati and S. K. Agrawal
A higher-order method for dynamic optimization of controllable LTI systems
Journal of Dynamic Systems, Measurement and Control - Transactions of the ASME, 135(2):021008, 2013

F. Mazzetto, M. Bietresato, A. Gasparetto, R. Vidoni
Simulated stability tests of a small articulated tractor designed for extreme sloped vineyards
Journal of Agricultural Engineering, volume 44(s1): e133, 2013, pp.663-668

P. Boscariol
Dynamics and control of flexible-links mechanisms
PhD Thesis, University of Udine, 2012

P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto
Receding horizon control of a compliant manipulator: experimental analysis
Proceedings of the 13th IFToMM World Congress in Mechanism and Machine Science, Guanajuato (Mexico), June 19-25, 2011, pp.1-10

D. Zanotto, S. K. Agrawal, and G. Rosati
A higher-order method for dynamic optimization of controllable LTI systems
In Proceedings of the ASME 4th Annual Dynamic Systems and Control Conference DSCC 2011, Arlington, VA, USA, Oct 31-Nov 2 2011

A. Dalla Via, G. Boschetti, P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
FLIMHILS: A Hardware-in-the-Loop Simulator of Flexible Links Mechanisms
Acta Mechanica Slovaca vol 12 no. 2 A, 2008, pp. 81-94

Richiedei D., Trevisani A.
Delayed-Reference Anti-Swing Control of Overhead Crane Systems
Proceedings of the 10th International IEEE-IES Workshop on Advanced Motion Control, 2008, Trento.

Richiedei D.
Modelli e schemi per il controllo del moto coordinato di attuatori idraulici
PhD Thesis, UniversitÓ degli Studi di Padova, 2008.

A. Gasparetto, R. Vidoni, V. Zanotto
Design of a Mechatronic System for the Control of a Spatial Mechanism in a Tunnel Digging Machine
Proceedings of the the 16th International Workshop in Alpe-Adria Danube Region (RAAD 2007), Ljubljana (Slovenia), June 7-9, 2007

Caracciolo R., Richiedei D., Trevisani A.
Performance Analysis of a Delayed Reference Controller for Active Swing Suppression in Trolley-Pendulum Systems
Proceedings of 12th IFToMM World Congress 2007, Besanšon (France).

S. Bortolatto, A. Gasparetto, A. Trevisani, and V. Zanotto
Towards a model of the human hand: Linear system identification of the human grasp
IASME Transactions, 1(1):131ľ136, 2004

A. Gasparetto, S. Miani
Dynamic Model of a Rotating Channel Used in the Steel Industry and Implementation of a Controller
Journal of Vibration and Control, Sage Publications, vol. 10, n. 3, March 2004, pp. 423-445

A. Gasparetto
On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model
ASME Journal of Dynamic Systems, Measurement and Control, vol. 126, n. 2, June 2004

A. Rossi, P. Gallina, G. Rosati, and V. Zanotto
Rate-to-force control in admittance mode bilateral teleoperation
In Proceedings of the 11th World Congress in Mechanism and Machine Science IFToMM2004, pages 1373ľ1379, Tianjin, China, April 2004

S. Bortolatto, A. Gasparetto, A. Trevisani, and V. Zanotto
Towards a model of the human hand: Linear system identification of the human grasp
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics (483-144), Udine, Italy, March 2004

G. Boschetti, A.Trevisani, and V.Zanotto
Improving control design of haptic interfaces: a model for the users mechanical impedance
Accepted for publication in the 7th Int. Conf. ROBTEP 2004 - Automation / Robotics in theory and practice, Vysn Ruzbachy, Slovak Republic, May 2004.

A. Gasparetto
Accurate Modelling of a Flexible-Link Planar Mechanism by Means of a Linearized Model in the State-Space Form for Design of a Vibration Controller
Journal of Sound and Vibration, Academic Press, vol. 240, n. 2, February 2001, pp. 241-262.

A. Gasparetto, S. Miani
Modeling and Control of a Rotating Channel
Proc. of the 2001 IEEE Joint Int. Conf. on Control Application and International Symposium on Intelligent Control, Mexico City, 5-7 Sept.2001.

A. Gasparetto, S. Miani
Application of a Classical PD Regulator to the Control of a Flexible Planar Closed Chain Linkage
Proceedings of the 7th IEEE Mediterranean Conference on Control and Automation, Haifa, Israel, 28-30 June1999

R. Caracciolo, P. Gallina,. Gasparetto
Fuzzy Control of a Pneumatic Actuator
Proceedings of the 5th Symposium on Robot Control SYROCO, Nantes (France), 3-5 Sept. 1997

R. Caracciolo, E. Ceresole, A. Gasparetto, M. Giovagnoni
Accurate Modelling of a Controlled Pneumatic Actuator with Experimental Validation
Proc. of the IUTAM Int. Symp. on Interaction between Dynamics and Control in Advanced Mechanical Systems, Eindhoven, 22-26 Apr. 1996

R.Caracciolo, E.Ceresole, A. Gasparetto, M.Giovagnoni
Linearizzazione del modello di un attuatore pneumatico controllato in portata
Atti del XII Congresso Nazionale AIMETA, Napoli, 3-6 ottobre 1995

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