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Paolo Boscariol
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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)
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
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