Abstract: Under-actuated robots are very interesting in terms of cost and weight since they can result in a state-controllable system with a number of actuators lower than the number of joints. In this paper, a comparison between ...

Abstract: This work describes a new procedure for dynamic optimization of controllable linear timeinvariant (LTI) systems. Unlike the traditional approach, which results in 2 n firstorder differential equations, the method proposed ...

Abstract: Adaptive cable-driven parallel robots are a special subclass of cable-driven systems in which the locations of the pulley blocks are modified as a function of the end-effector pose to obtain optimal values of given performance ...

Abstract: In robotics, the risk of collisions is present both in industrial applications and in remote handling. If a collision occurs, the impact may damage both the robot and external equipment, which may result in successive ...