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317 results on '"Legnani, Giovanni"'

110. Automatic deburring of pieces of unknown shape and other force control applications

Author

Legnani, Giovanni, Visioli, Antonio, Ziliani, Giacomo, and Pedrocchi, Nicola

Subjects
robot manipulators, hybrid force/velocity control, deburring, Industrial Robotics
Abstract

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.

Published
2007
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118. A new pose measuring system based on a spatial four bar linkage with RSSR chain

Author

Tosi, Diego, Legnani, Giovanni, and Pedrocchi, Nicola

Subjects
Tracking (position), Robotics, Calibration, Measurement Systems, Pose measuring, Spatial four bar mechanism with a symmetrical (RSSR), Position measurement, Motion estimation
Abstract

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.

Published
2006
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124. Un manipolatore particolare

Author

Tosi, Diego, Ziliani, Giacomo, Pedrocchi, Nicola, and Legnani, Giovanni

Subjects
robot, manipolatore parallelo, PKM
Published
2006

136. Hand to sensor calibration: a geometrical interpretation of the matrix equation ax=xb

Author

Fassi, I. and Legnani, Giovanni

Subjects
Computer Science::Robotics, DYNAMICS, Control and Systems Engineering, 3D KINEMATICS, manipulator, calibration, EYE CALIBRATION, QUATERNIONS
Abstract

In this paper, the matrix equation AX=XB used for hand to sensor calibration of robot-mounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances A(i)X=XBi (i=1,2,...) of the equation are to be solved simultaneously, the system is overconstrained. Finally, singular cases are also discussed.

Published
2005

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