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This work describes the influence of temperature on the identification of the dynamic model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation is due to the heat generated by friction. A model is used to estimate the temperature and related friction variation. Experimental data collected on an industrial robot are discussed. Repetitive tests performed on different days showed that the inertial and friction parameters can be robustly estimated.

The development of a model for the prediction of the friction in robotic joints by taking into account the working condition is a crucial task for many applications including: predictive maintenance, identification of impact without force sensors, human-robot interaction without force sensors, implementation of virtual force sensors, and others. However, such a model is not easy to develop because friction depend on many factors including velocity and temperature. On the basis of theoretical and experimental studies on different industrial manipulators, this paper explores this field showing the main factors influencing the friction and giving a solid base for the development of suitable predictive models., https://youtu.be/w05IKC5GOC0

The work proposes the use of an original vacuum micro-gripper with an integrated release system for the manipulation of fertilized zebrafish eggs prior to their microinjection. After an introduction to the biological application, the micro-gripper is presented and its implementation in a robotized procedure described. The capabilities of the system and the main critical issues are then discussed, posing the basis for further investigation.

This paper presents a concurrent whole-body control (cWBC) for human-exoskeleton systems that are tightly coupled at a Cartesian level (e.g., feet, hands, torso). The exoskeleton generates joint torques that i) cancel the effects of gravity on the coupled system, ii) perform a primary task (e.g., maintaining the balance of the system), and iii) exploit the kinematic redundancy of the system to amplify the forces exerted by the human operator. The coupled dynamic system is demonstrated to be passive, as its overall energy always goes dissipated until a minimum is reached. The proposed method is designed specifically to control exoskeletons for power augmentation worn by healthy operators in applications such as manufacturing, as it allows to increase the worker's capabilities, therefore reducing the risk of injuries., 6 pages

The mission of the robotic group (IRAS) of the Institute of Industrial Technologies and Automation of the National Research Council of Italy (ITIA-CNR) consists on the development of innovative robotic work cells, capable of responding cooperatively, safely, intelligently and largely autonomously in loosely structured environments, to be implemented both for industrial and service application. New capabilities to be displayed within unstructured environments are strongly tied to the control architectures and, most importantly, to the programming methodology. This work reviews a number of application developed by IRAS addressing the described architectural issues and related implemented solutions.

This paper presents some practical applications of advanced industrial robotic solutions based on force-control schemes. With respect to standard trajectory-controlled manipulators, this innovative approach permits the execution of more difficult task in less structured environment. In practice three tasks will be presented: contour tracking of object of unknown shape, deburring of pieces on unknown shape and crank turning.

An innovative low cost device for the measuring of the pose, 3 translation and 3 rotations, of a body was presented. The proposed measuring system consists in a spatial four bar mechanism with a symmetrical (RSSR) kinematic structure. The first link of the chain is connected to a fixed reference system and the last one to the moving body to be tracked. The estimation procedure in analytical form was developed and the uncertainty of the estimation caused by the limited repeatability of the used sensors was derived. The uncertainty of the pose estimation was also investigated and a numerical example of the achievable measuring range and uncertainty was also illustrated. It was found that by using the proposed system all the six coördinates of the pose of the mobile frame can be measured simultaneously.