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Modellazione e controllo di meccanismi a membri deformabili ad attuazione singola

referente: prof. Alberto Trevisani
sede: UniPd - DTG
inizio: 2000
Area: Vibrazioni Meccaniche


Pubblicazioni

R. Vidoni, L. Scalera, A. Gasparetto, M. Giovagnoni
Comparison of model order reduction techniques for flexible multibody dynamics using an Equivalent Rigid-Link System approach
Proceedings of 8th ECCOMAS Thematic Conference on Multibody Dynamics, Prague, 19-22 June, 2017

E. Shojaei Barjuei, P. Boscariol, R. Vidoni, A. Gasparetto
Robust Control of Three-Dimensional Compliant Mechanisms
Journal of Dynamic Systems, Measurement and Control, 2016, vol. 138 pp. 101009-1-14

Shojaei Barjuei E., Gasparetto A.
Predictive Control of Spatial Flexible Mechanisms
International Journal of Mechanics and Control 168 (1), 2015, pp. 85-96

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

P. Boscariol, A. Gasparetto, M. Giovagnoni, A. K. Moosavi, R. Vidoni
On the Modeling of Flexible-Link Robots: First Experimental Validation of an ERLS-FEM Dynamic Model
Proc. of ICM 2013 - IEEE International Conference on Mechatronics, Vicenza (ITALY) - February 27-28 , March 1 2013

R. Vidoni, P. Boscariol, A. Gasparetto, M. Giovagnoni
Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach
Proc. of ASME 2012 International Design Engineering Technical Conferences (IDETC), August 12-15 2012, Chicago, USA

P. Boscariol, A. Gasparetto, M. Giovagnoni, S A H Kiaeian Moosavi, R. Vidoni
Design and implementation of a simulator for 3D flexible-link serial robots
Proc. of ESDA 2012 11^th Biennial Conference on Engineering System Design and Analysis, July 2-4 2012, Nantes, France

P. Boscariol, A. Gasparetto, V. Zanotto
Simultaneous position and vibration control system for flexible link mechanisms
Meccanica, vol. 46 (4), August 2011, pp. 723-737, DOI: 10.1007/s11012-010-9333-9

P. Boscariol
Experimental validation of a special state observer for a class of flexible link mechanisms
Annals of Faculty Engineering Hunedoara – International Journal of Engineering. Vol. XI-1 pp. 179-182 (2011)

P. Boscariol, A. Gasparetto, V. Zanotto
A HIL simulator of Flexible-Link Mechanisms
Journal of Intelligent & Robotic Systems, Volume 64, Number 3-4, December 2011, pp. 427-446, DOI: 10.1007/s10846-011-9547-7

P Boscariol
Sistema meccatronico intelligente per meccanismi flessibili
Proc. of NIDays2011, Milano, 23 Febbraio 2011

P. Boscariol, A. Gasparetto, V. Zanotto
Model Predictive Control of a Flexible Links Mechanism
Journal of Intelligent & Robotic Systems: Volume 58, Issue 2 (May 2010), Page 125-147

P. Boscariol, A.Gasparetto and Vanni Zanotto
Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control
ASME Journal of Dynamic Systems, Measurement, and Control, January 2010, Vol. 132, DOI: 10.1115/1.4000658

P. Boscariol, A. Gasparetto, V. Zanotto
Design and Experimental Validation of a Hardware-In-the-Loop Simulator for Mechanisms with Link Flexibility
Proceedings of the 10th Biennial Conference on Engineeing and System Design and Analysis - ESDA2010-24254, July 12-14

Boscariol, P. Gasparetto, A. Zanotto, V.
Vibration reduction in a flexible link mechanism through the synthesis of an MPC controller
ICM 2009 - IEEE International Conference on Mechatronics, 14-17 April 2009 pp. 1-6 DOI 10.1109/ICMECH.2009.4957182

P. Boscariol, A. Gasparetto, M. Giovagnoni, A. Lanzutti, R. Vidoni, V. Zanotto
Innovative Control Techniques for Mechatronic Systems
XIX Congresso Aimeta - Ancona 14-17 settembre 2009

Caracciolo R., Richiedei D., Trevisani A.
Experimental Validation of a Model-Based Robust Controller for Multi-body Mechanisms with Flexible Links
Multibody System Dynamics, vol. 20, n 2, September 2008, 129-145.

Alessandro Gasparetto and Vanni Zanotto
Vibration reduction in a flexible-link mechanism through synthesis of an optimal controller
Meccanica, Volume 41, Number 6, December 2006, pp. 611-622

Caracciolo R., Richiedei D., Trevisani A.
Robust Piecewise-Linear State Observers for Flexible Link Mechanisms
Proceedings of ESDA 2006, 8th Biennial ASME Conference on Engineering Systems Design and Analysis, Torino (Italy).

R. Caracciolo, D. Richiedei, A. Trevisani and V. Zanotto
Robust mixed-norm position and vibration control of flexible link mechanisms
Mechatronics, Volume 15, Issue 7, September 2005, Pages 767-791

12. A. Trevisani e M. E. Valcher
An Energy-Based Adaptive Control Design Technique for Multibody-Mechanisms With Flexible-Links
ASME/IEEE Transactions on Mechatronics, 10 (2005) 571-580.

P. Gallina e A. Trevisani
Synthesis and Experimental Validation of a Delayed Reference Controller for Active Vibration Suppression in Mechanical Systems
Journal of Applied Mechanics - Transactions of the ASME, 72 (2005) 623-627.

R. Caracciolo, A. Gasparetto, A. Trevisani and V. Zanotto
On the Design of State Observers for Flexible Link Mechanisms
IASME Transactions, 1(1):125–130, 2004

R. Caracciolo, A. Gasparetto, A. Trevisani and V. Zanotto
On the Design of State Observers for Flexible Link Mechanisms
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics (483-144), Udine, Italy, March 2004

A. Trevisani
Feedback control of flexible four-bar linkages: a numerical and experimental investigation
Accettato per la pubblicazione sulla rivista scientifica internazionale Journal of Sound and Vibration

R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
On the control of flexible link manipulators: results of two numerical investigations - PART II: regulator design and numerical results
Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD’03), 7-10 Maggio, 2003, Cassino (Italia).

R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
On the control of flexible link manipulators: results of two numerical investigations - Part I: mathematical model and test cases
Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD’03), 7-10 Maggio, 2003, Cassino (Italia)

R. Caracciolo, A. Gasparetto, A.Rossi e A. Trevisani
Linearizzazione di modelli dinamici per meccanismi a membri deformabili
XVI Congresso AIMETA di Meccanica Teorica e Applicata, 9 12 Settembre 2003, Ferrara (Italia).

R. Caracciolo e A. Trevisani
Simultaneous rigid-body motion and vibration control of a flexible four-bar linkage
Mechanism and Machine Theory, Elsevier Science, 36 (2001) 221-243.

R. Caracciolo, A. Gasparetto, A. Rossi e A. Trevisani
Linear quadratic optimal control of a four-link flexible planar linkage
Proceedings of the IASTED International Conference on ROBOTICS AND APPLICATIONS 2000 (RA 2000), Agosto 14-16, 2000 Honolulu, Hawaii, (USA).

R. Caracciolo, M. Giovagnoni, A. Rossi e A. Trevisani
Modelling and control of a closed chain flexible linkage
Proceedings of the ASME 2000 IDECT/CIE, 26th Biennial Mechanisms and Robotics Conference, Settembre 10-13, 2000, Baltimore, Maryland (USA).

R. Caracciolo, A. Gasparetto, M. Giovagnoni e A. Trevisani
A comparison of two approaches to rigid-body motion and vibration control of a four-bar flexible planar linkage
Proceedings of the “Fifth International Conference on Motion and Vibration Control (MOVIC 2000), Dicembre 4-8 2000, Sydney (Australia).

Tesi

Massimo De Barba Riduzione delle vibrazioni in meccanismi a membri flessibili tramite controllore MPC (2009)
Armando Solfrizzo Studio e simulazione di Robot a membri deformabili (2009)
Davide Sandonà Sintesi e verifica delle prestazioni di uno schema per il controllo del moto rigido e delle vibrazioni di meccanismi a membri deformabili (2004)
Amedeo Pagliarusco Studio di uno stimatore dello stato di un meccanismo a membri deformabili: teoria e sperimentazione. (2003)
Dario Richiedei Controllo robusto di un quadrilatero articolato piano a membri deformabili (2003)
Laura Bigoni Analisi delle prestazioni di uno schema di controllo per meccanismi a membri deformabili. (2002)
Lorenzo Righele Controllo del moto di un meccanismo a membri deformabili (1999)

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