RobTraj: studio di traiettorie per robot

referente: prof. Alessandro Gasparetto
sede: UniUd - DIEGM
inizio: 1999
Area: Robotica

L'attività si propone di studiare ed analizzare il problema della pianificazione e del controllo di traiettorie per robot.


L. Scalera, P. Boscariol, G. Carabin, R. Vidoni, A. Gasparetto
Enhancing Energy Efficiency of a 4-DOF Parallel Robot Through Task-Related Analysis
Machines, 8(1), 10, 2020

P. Boscariol, R. Caracciolo, D. Richiedei, A. Trevisani
Energy Optimization of Functionally Redundant Robots through Motion Design
Applied Sciences 2020, 10(9), 3022, special issue Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems

P. Boscariol, D. Richiedei
Optimization of Motion Planning and Control for Automatic Machines, Robots and Multibody Systems
Editorial, Appl. Sci. 2020, 10(14), 4982; https://doi.org/10.3390/app10144982

P. Boscariol, R. Caracciolo, D. Richiedei
Energy Optimal Design of Jerk-Continuous Trajectories for Industrial Robots
In: Niola V., Gasparetto A. (eds) Advances in Italian Mechanism Science. IFToMM ITALY 2020. Mechanisms and Machine Science, vol 91. Springer, Cham.

P. Boscariol, D. Richiedei
Energy efficient design of multi-point trajectories for Cartesian robots
The International Journal of Advanced Manufacturing Technology 102, pp. 1853–1870, 2019

P. Boscariol, D. Richiedei
Trajectory Design for Energy Savings in Redundant Robotic Cells
Robotics 2019, 8(1), 15; https://doi.org/10.3390/robotics8010015

P. Boscariol, D. Richiedei
A variational approach for the reduction of transient load sway in overhead cranes
Mechanisms and Machine Science Volume 68, 2019, Pages 449-456

P. Boscariol, D. Richiedei, A. Trevisani
Robust model-based trajectory planning for flexible mechanisms: experimental assessment
Proceedings of the 15th IFToMM World Congress, June 30 - July 4, 2019, Kracow, Poland

G. Trigatti, P. Boscariol, L. Scalera, D. Pillan, A. Gasparetto
A new path-constrained trajectory planning strategy for spray painting robots
The International Journal of Advanced Manufacturing Technology, 98(9-12), pp. 2287-2296

P. Boscariol, D. Richiedei
Spline-based energy-optimal trajectory planning for functionally redundant robots
Proceedings of MESA2018, 14th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, Oulu - Finland, 2-4 July 2018

P. Boscariol, D. Richiedei
Energy saving in redundant robotic cells: optimal trajectory planning
Proceedings of the 4th Symposium on Mechanisms Design for Robotics, MEDER 2018, September 11th-13th 2018, Udine, Italy

P. Boscariol, D. Richiedei
Robust rest-to-rest motion planning for cranes through a variational solution
Proceedings of 8th ECCOMAS Thematic Conference on Multibody Dynamics, June 19-22 2017, Prague, Czech Republic, extended abstract

P. Boscariol, A. Gasparetto
Robust model-based trajectory planning for nonlinear systems
Journal of Vibration and Control 22(18), pp. 3904-3915, 2016

P. Boscariol, G. Carabin, A. Gasparetto, N. Lever, R. Vidoni
Energy-Efficient Point-to-Point Trajectory Generation for Industrial Robotic Machines
ECCOMAS Thematic Conference on Multibody Dynamics June 29 - July 2, 2015, Barcelona, Catalonia, Spain

P. Boscariol, R. Vidoni, A. Gasparetto
Robustness Improvement of Trajectory Planning Algorithms
Proceeding of the 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015

Gasparetto, A., Boscariol, P., Lanzutti, A., Vidoni, R.
Path planning and trajectory planning algorithms: A general overview
Mechanisms and Machine Science, Volume 29, 1 January 2015, Pages 3-27 (book chapter)

P. Boscariol, A. Gasparetto
Optimal robust trajectory planning for nonlinear systems: robust and constrained solutions
Robotica, published online

P. Boscariol, A. Gasparella, A. Gasparetto, R. Vidoni
A minimum energy trajectory algorithm for mechatronic systems with regenerative braking
Proceedings of The 14th Mechatronics Forum International Conference, Karlstad, Sweden, June 16-18 2014

P. Boscariol, A. Gasparetto
Model-based trajectory planning for flexible link mechanisms with bounded jerk
Robotics and Computer Integrated Manufacturing, Volume 29, Issue 4, August 2013, Pages 90-99

P. Boscariol, A. Gasparetto, R. Vidoni, A. Romano
A model-based trajectory planning approach for flexible-link mechanisms
Proc. of ICM 2013 - IEEE International Conference on Mechatronics, Vicenza (ITALY) - February 27-28 , March 1 2013

A. Gasparetto, P. Boscariol, A. Lanzutti, R. Vidoni
Trajectory planning in Robotics
Mathematics in Computer Science, Volume 6, Issue 3, September 2012, pp. 269-279, DOI 10.1007/s11786-012-0123-8

A. Gasparetto, A.Lanzutti, R.Vidoni, V.Zanotto
Experimental validation and comparative analysis of optimal time-jerk algorithms for trajectory planning
Robotics and Computer-Integrated Manufacturing, Volume 28, Issue 2, April 2012, pp. 164-181, DOI: 10.1016/j.rcim.2011.08.003

P. Boscariol, A. Gasparetto, R. Vidoni
Jerk-Continous Trajectories For Cyclic Tasks
Proc. of ASME 2012 International Design Engineering Technical Conferences (IDETC), August 12-15 2012, Chicago, USA

P. Boscariol, A. Gasparetto, R. Vidoni
Planning continuous-jerk trajectories for industrial manipulators
Proc. of ESDA 2012 11^th Biennial Conference on Engineering System Design and Analysis, July 2-4 2012, Nantes, France

A. Gasparetto, R. Vidoni, D. Pillan, E. Saccavini
Automatic path and trajectory planning for robotic spray painting
Proceedings of Robotik 2012 - The 7th Conference in Robotics, Munich (Germany), May 21-22, 2012, pp. 211-216

A. Lanzutti
Smooth trajectory planning algorithms for industrial robots: an experimental evaluation
Annals of Faculty Engineering Hunedoara – International Journal of Engineering. Vol. XI-1 pp. 127-132 (2011)

P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Experimental validation of minimum time-jerk algorithms for industrial robots
Journal of Intelligent & Robotic Systems, Volume 64, Number 2, November 2011, pp. 197-219, DOI: 10.1007/s10846-010-9533-5

A. Gasparetto A. Lanzutti R. Vidoni V. Zanotto
Validation of minimum time-jerk algorithms for trajectory planning of industrial robots
Journal of Mechanism and Robotics (Transactions of the ASME), Volume 3, Issue 3, n. 031003 (12 pages), August 2011, DOI: 10.1115/1.4004017

P. Boscariol, A. Gasparetto, A. Lanzutti, R. Vidoni, V. Zanotto
Sistema di controllo Real-Time per un robot cartesiano
Proc. of NIDays2011, Milano, 23 Febbraio 2011

A.Gasparetto and V.Zanotto
Optimal trajectory planning for industrial robots
Advances in Engineering Software, Volume 41, Issue 4, April 2010, Pages 548-556

A.Gasparetto and V.Zanotto
A technique for time-jerk optimal planning of robot trajectories
Robotics and Computer-Integrated Manufacturing, Volume 24, Issue 3, June 2008, Pages 415-426

A. Gasparetto, R. Vidoni, V. Zanotto
Optimal planning of Robotic Trajectories
Proceedings of the 8th International Conference on Advanced Manufacturing Systems and Technology AMST '08, Udine, June 12-13 2008

A. Gasparetto and V. Zanotto
A new method for smooth trajectory planning of robot manipulators
Mechanism and Machine Theory, Volume 42, Issue 4, April 2007, Pages 455-471

P. Gallina, A. Gasparetto
A Technique to Analytically Formulate and to Solve the 2-Dimensional Constrained Trajectory Planning Problem for a Mobile Robot
Journal of Intelligent and Robotic Systems, Kluwer Academic Publishers, vol. 27, n. 3, March 2000, pp. 237-262


Stefano Indrigo Programmazione di robot antropomorfo a 6 gradi di libertà (2006)
Claudio Mantovani Pianificazione di traiettoria per manipolatori robotici (2004)
Francesca Pagotto Pianificazione fuori linea di traiettorie per robot mobili (2000)

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