1,721,078 research outputs found
Autorizzazioni a procedere: Analisi del fenomeno nel parlamento italiano La Camera dei Deputati 1948/1992
No full textParte II di una analisi totale del fenomeno delle autorizzazioni a procedere. La prima parte riguardante il Senato della Repubblica dal 1948 al 1991 è pubblicato dall' E.S.I. 199
Second-order kinematic control of robot manipulators with Jacobian damped least-squares inverse: Theory and experiments
No full textAutorizzazioni a procedere: Analisi del fenomeno nel parlamento italiano La Camera dei Deputati 1948/1992
No full textParte II di una analisi totale del fenomeno delle autorizzazioni a procedere. La prima parte riguardante il Senato della Repubblica dal 1948 al 1991 è pubblicato dall' E.S.I. 199
Kinematic control of redundant free-floating robotic systems
No full textThis paper is aimed at presenting solution algorithms to the inverse kinematics of a space manipulator mounted on a free-floating spacecraft. The reaction effects of the manipulator's motion on the spacecraft are taken into account by means of the so-called generalized Jacobian. Redundancy of the system with respect to the number of task variables for spacecraft attitude and manipulator end-effector pose is considered. Also, the problem of both spacecraft attitude and end-effector orientation representation is tackled by means of a non-minimal singularity-free representation: the unit quaternion. Depending on the nature of the task for the spacecraft/manipulator system, a number of closed-loop inverse kinematics algorithms are proposed. Case studies are developed for a system of a spacecraft with a six-joint manipulator attached
The role of dynamic capabilities in building innovative business models. An empirical evidence from Italy.
No full textObserver-based sensor fault detection and isolation for chemical batch reactors
No full textIn this paper a scheme for sensor fault diagnosis in chemical batch reactors is proposed. The scheme is based on a bank of two observers aimed at generating a set of residuals sensitive to faults occurrence. The observers are designed via a H∞ approach, so as to guarantee faults detection and isolation even in the presence of external disturbances and modeling errors. The heat released by the reaction is estimated via an universal approximator, based on radial basis functions, whose weights are adjusted on-line. Finally, the estimates provided by the observers and the sensor measures are processed to provide information about the faulty sensor as well as an healthy measure. In order to test the effectiveness of the proposed approach, a simulation case study is developed. © 2008 Elsevier Ltd. All rights reserved
Robust fault detection and isolation for proprioceptive sensors of robot manipulators
No full textIn this paper a scheme for detecting and isolating proprioceptive sensor faults in industrial robot manipulators is devised. To the purpose, an analytical redundancy approach has been pursued, based on a bank of state observers for residual generation. Namely, an extended H∞ approach is adopted and the compensation of poorly known dynamics in each observer is improved by the use of a Radial Basis Functions (RBFs) neural network. The design of the observer matrix gain is achieved by solving a Linear Matrix Inequality (LMI) feasibility problem, where constraints on the position in the complex plane of the poles of the estimation error dynamics are taken into account. Finally, in order to test the effectiveness of the proposed approach, a case study is developed, based on experiments performed on a six-degree-of-freedom Comau Smart-3 S industrial manipulator. © 2009 Elsevier Ltd. All rights reserved
Systematic procedure for the identification of dynamic parameters of robot manipulators
No full textIn this paper a complete and systematic procedure for the identification of the dynamic parameters of rigid robot manipulators is presented. Starting from the basic results on the subject present in the literature and on a new technique to find exciting trajectories for the estimation, the procedure is developed. A set of algorithms is provided for the implementation of the various steps of the procedure for a generic open-chain structure. The algorithms have been coded in the popular Matlab/Maple environment and the procedure has been tested in a practical case study to identify the dynamic parameters of a six-degree-of-freedom conventional industrial robot
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