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Alessandro Gasparetto
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Journal Articles

Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators

Fabrizio Vidussi, Paolo Boscariol, Lorenzo Scalera, Alessandro Gasparetto
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021018.
Paper No: JMR-19-1527
https://doi.org/10.1115/1.4049972
Published Online: March 4, 2021
View Articletitled, Local and Trajectory-Based Indexes for Task-Related Energetic Performance Optimization of Robotic Manipulators
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Topics: Energy consumption, Inertia (Mechanics), Manipulators, Robots, Trajectories (Physics)
Proceedings Papers

An Experimental Method to Determine Poisson’s Ratio in a Small Beam Subject to Seismic Excitation

Roberto Caracciolo, Alessandro Gasparetto, Marco Giovagnoni
Proc. ASME. DETC97, Volume 1D: 16th Biennial Conference on Mechanical Vibration and Noise, V01DT20A021, September 14–17, 1997
Publisher: American Society of Mechanical Engineers
Paper No: DETC97/VIB-4069
https://doi.org/10.1115/DETC97/VIB-4069
View Paper titled, An Experimental Method to Determine Poisson’s Ratio in a Small Beam Subject to Seismic Excitation
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Topics: Excitation, Poisson ratio, Temperature, Errors, Strain gages
Proceedings Papers

ByeLab: An Agricultural Mobile Robot Prototype for Proximal Sensing and Precision Farming

Renato Vidoni, Raimondo Gallo, Gianluca Ristorto, Giovanni Carabin, Fabrizio Mazzetto, Lorenzo Scalera, Alessandro Gasparetto
Proc. ASME. IMECE2017, Volume 4A: Dynamics, Vibration, and Control, V04AT05A057, November 3–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2017-71216
https://doi.org/10.1115/IMECE2017-71216
View Paper titled, ByeLab: An Agricultural Mobile Robot Prototype for Proximal Sensing and Precision Farming
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Topics: Engineering prototypes, Mobile robots, Precision agriculture, Robotics, Algorithms, Bionics, Mechatronics, Sensors, Shapes
Journal Articles

Efficient Closed-Form Solution of the Kinematics of a Tunnel Digging Machine

Paolo Boscariol, Alessandro Gasparetto, Lorenzo Scalera, Renato Vidoni
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031001.
Paper No: JMR-16-1040
https://doi.org/10.1115/1.4035797
Published Online: March 20, 2017
View Articletitled, Efficient Closed-Form Solution of the Kinematics of a Tunnel Digging Machine
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Topics: Kinematics, Manipulators, Machinery, Tunnels
Journal Articles

Robust Control of Three-Dimensional Compliant Mechanisms

Erfan Shojaei Barjuei, Paolo Boscariol, Renato Vidoni, Alessandro Gasparetto
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. October 2016, 138(10): 101009.
Paper No: DS-15-1110
https://doi.org/10.1115/1.4034019
Published Online: July 21, 2016
View Articletitled, Robust Control of Three-Dimensional Compliant Mechanisms
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Topics: Control equipment, Uncertainty, Design, Density
Proceedings Papers

Jerk-Continuous Trajectories for Cyclic Tasks

Paolo Boscariol, Alessandro Gasparetto, Renato Vidoni
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1277-1286, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70912
https://doi.org/10.1115/DETC2012-70912
View Paper titled, Jerk-Continuous Trajectories for Cyclic Tasks
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Topics: Actuators, End effectors, Excitation, Interpolation, Manipulators, Mechanical structures, Optimization algorithms, Polynomials, Robotics, Robots
Proceedings Papers

Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach

Renato Vidoni, Paolo Boscariol, Alessandro Gasparetto, Marco Giovagnoni
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1449-1458, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70939
https://doi.org/10.1115/DETC2012-70939
View Paper titled, Kinematic and Dynamic Analysis of Flexible-Link Parallel Robots by Means of an ERLS Approach
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Topics: Dynamic analysis, Kinematics, Robots, Deformation, Manipulators, Case studies, Computer software, Design, Dynamics (Mechanics), Elasticity
Proceedings Papers

Planning Continuous-Jerk Trajectories for Industrial Manipulators

Paolo Boscariol, Alessandro Gasparetto, Renato Vidoni
Proc. ASME. ESDA2012, Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering, 127-136, July 2–4, 2012
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82103
https://doi.org/10.1115/ESDA2012-82103
View Paper titled, Planning Continuous-Jerk Trajectories for Industrial Manipulators
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Topics: Manipulators, Trajectories (Physics), Excitation, Interpolation, Performance, Polynomials, Robotics, Robots, Vibration
Proceedings Papers

Design and Experimental Validation of a Hardware-in-the-Loop Simulator for Mechanisms With Link Flexibility

Paolo Boscariol, Alessandro Gasparetto, Vanni Zanotto
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 827-836, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24254
https://doi.org/10.1115/ESDA2010-24254
View Paper titled, Design and Experimental Validation of a Hardware-in-the-Loop Simulator for Mechanisms With Link Flexibility
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Topics: Design, Hardware, Complex systems, Computer software, Control equipment, Dynamics (Mechanics), Engineering prototypes, Finite element methods, Finite element model, Signals
Proceedings Papers

Trajectory Planning for Manufacturing Robots: Algorithm Definition and Experimental Results

Alessandro Gasparetto, Albano Lanzutti, Renato Vidoni, Vanni Zanotto
Proc. ASME. ESDA2010, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 609-618, July 12–14, 2010
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2010-24260
https://doi.org/10.1115/ESDA2010-24260
View Paper titled, Trajectory Planning for Manufacturing Robots: Algorithm Definition and Experimental Results
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Topics: Algorithms, Manufacturing, Robots, Splines, Trajectories (Physics)
Journal Articles

Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control

Paolo Boscariol, Alessandro Gasparetto, Vanni Zanotto
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. January 2010, 132(1): 014506.
https://doi.org/10.1115/1.4000658
Published Online: December 22, 2009
View Articletitled, Active Position and Vibration Control of a Flexible Links Mechanism Using Model-Based Predictive Control
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Topics: Control equipment, Manipulators, Position control, Predictive control, Vibration, Vibration control, Torque, Simulation, Displacement, Dynamic models
Proceedings Papers

A Robotic Approach to Stereotactic Radio-Surgery

Aldo Rossi, Alberto Trevisani, Alessandro Gasparetto, Vanni Zanotto
Proc. ASME. ESDA2004, Volume 3, 427-434, July 19–22, 2004
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2004-58190
https://doi.org/10.1115/ESDA2004-58190
View Paper titled, A Robotic Approach to Stereotactic Radio-Surgery
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Topics: Robotics, Surgery, Emissions, Biological tissues, Force feedback, Haptics, Stress, X-rays
Proceedings Papers

Design and Implementation of a Control System for a Flexible Planar Manipulator

Adriano Biason, Alessandro Gasparetto, Marco Giovagnoni, Alberto Trevisani, Vanni Zanotto
Proc. ASME. ESDA2004, Volume 1, 725-732, July 19–22, 2004
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2004-58191
https://doi.org/10.1115/ESDA2004-58191
View Paper titled, Design and Implementation of a Control System for a Flexible Planar Manipulator
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Topics: Control equipment, Control systems, Design, Manipulators, Dynamic models, Chain, Electric motors, Flexible manipulators, Industrial engineering, Robots
Journal Articles

On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model

Alessandro Gasparetto
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. June 2004, 126(2): 365–375.
https://doi.org/10.1115/1.1767856
Published Online: August 5, 2004
View Articletitled, On the Modeling of Flexible-Link Planar Mechanisms: Experimental Validation of an Accurate Dynamic Model
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Topics: Dynamic models, Linkages, Deformation, Displacement, Modeling, Torque, Simulation results
Journal Articles

A System Theory Approach to Mode Coupling Chatter in Machining

Alessandro Gasparetto
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Technical Briefs
J. Dyn. Sys., Meas., Control. December 1998, 120(4): 545–547.
https://doi.org/10.1115/1.2801501
Published Online: December 1, 1998
View Articletitled, A System Theory Approach to Mode Coupling Chatter in Machining
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Topics: Chatter, Machining, Systems theory, Eigenvalues, Cutting, Machinery, Stability, Vibration, Wood cutting (Firewood)