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PRISMA Lab
เข้าร่วมเมื่อ 21 พ.ย. 2010
TH-cam Channel of PRISMA Lab.
The PRISMA Lab (Projects of Robotics for Industry and Services, Mechatronics and Automation) operates in the Department of Electrical Engineering and Information Technology of University of Naples Federico II, where since 30 years is committed to research in robotics and automation.
The PRISMA Lab (Projects of Robotics for Industry and Services, Mechatronics and Automation) operates in the Department of Electrical Engineering and Information Technology of University of Naples Federico II, where since 30 years is committed to research in robotics and automation.
Oscillation Suppression in Cable-Suspended RoboticManipulation Systems
Video associated to the paper
M. Avagnale, G. D'Ago, M. Selvaggio, L. R. Buonocore, M. Di Castro, V. Lippiello, B. Siciliano, F. Ruggiero, "Oscillation Suppression in Cable-Suspended Robotic Manipulation Systems Using Nonlinear Model Predictive Control" accepted at the 2024 International Symposium of Robotics Research (ISRR).
Abstract
This paper addresses the development of a model-based control strategy for suppressing oscillations in dual-arm cable-suspended long-reach robotic systems. The control leverages the robotic arms dynamics to dampen platform oscillations caused by the suspension point’s movement as it reaches the desired operating position. To manage the inherent system constraints and model nonlinearities, a nonlinear model predictive control approach has been devised. Experimental results validate the approach’s effectiveness, demonstrating that the proposed method reduces the time needed to eliminate oscillations during the approach phase by more than 75% compared to the uncontrolled case.
M. Avagnale, G. D'Ago, M. Selvaggio, L. R. Buonocore, M. Di Castro, V. Lippiello, B. Siciliano, F. Ruggiero, "Oscillation Suppression in Cable-Suspended Robotic Manipulation Systems Using Nonlinear Model Predictive Control" accepted at the 2024 International Symposium of Robotics Research (ISRR).
Abstract
This paper addresses the development of a model-based control strategy for suppressing oscillations in dual-arm cable-suspended long-reach robotic systems. The control leverages the robotic arms dynamics to dampen platform oscillations caused by the suspension point’s movement as it reaches the desired operating position. To manage the inherent system constraints and model nonlinearities, a nonlinear model predictive control approach has been devised. Experimental results validate the approach’s effectiveness, demonstrating that the proposed method reduces the time needed to eliminate oscillations during the approach phase by more than 75% compared to the uncontrolled case.
มุมมอง: 53
วีดีโอ
Prof. Fabio Ruggiero’s interview for Quasar - Rai 2 - 7 Dec 2024
มุมมอง 14821 ชั่วโมงที่ผ่านมา
Prof. Ruggiero, guest on the scientific outreach program Quasar, discussed assisted mobile manipulation in the context of the European research project Harmony, funded by the European Community in 2021. The project’s goal is to improve the use and reliability of robotics in hospital logistics, particularly focusing on human-robot interaction and the manipulation of objects in laboratories, aide...
Professors Bruno Siciliano and Vincenzo Lippiello @ Linea Verde Italia - Rai Uno - 7 Dec 2024
มุมมอง 14621 ชั่วโมงที่ผ่านมา
Professors Bruno Siciliano and Vincenzo Lippiello were interviewed by Elisa Isoardi to discuss robotics and automation, focusing on the collaboration between humans and technology with a spotlight on the KOALA project: the world’s first modular system that combines drone and crawler (tracked mobile robot) technologies to remotely inspect steel pipes, regardless of their orientation or curvature.
Prof. Bruno Siciliano's interview @ China-Italy Innovation Forum 2024 - 26 Nov 2024
มุมมอง 2021 วันที่ผ่านมา
Prof. Bruno Siciliano at the China-Italy Innovation Forum 2024: Innovation in Advanced Manufacturing, Fondazione Idis Città della Scienza.
Prof. Fanny Ficuciello's interview @ Innovation Village Award - 9 May 2024
มุมมอง 621 วันที่ผ่านมา
Prof. Fanny Ficuciello at Innovation Village 2024 was one of the key participants in the events: “AIxWOMEN: Artificial Intelligence, Women, and Inclusion” “Opportunities for Innovators and Startups” In the interview, prof. Ficuciello highlights some of the challenges robotics is currently facing.
Prof. Bruno Siciliano''s interview @ La Fabbrica della Realtà - ANSA - 12 Nov 2024
มุมมอง 40หลายเดือนก่อน
Professor Bruno Siciliano, interviewed by journalist Massimo Sebastiani from ANSA at the conference "La Fabbrica della Realtà - AI in the Innovation Ecosystem of Campania" held at the Apple Developer Academy @Unina Federico II, addressed crucial topics for technological and scientific innovation, explaining the increasingly strong link between Artificial Intelligence and robotics. He discussed ...
Prof. Bruno Siciliano's keynote @ Cornell Tech University - 23 Oct 2024
มุมมอง 84หลายเดือนก่อน
On the occasion of the 800th anniversary celebrations of the University of Naples Federico II, Prof. Bruno Siciliano delivered a keynote speech during the university’s internationalization event held at Tata Center, Cornell Tech University in New York.
Prof. Bruno Siciliano @ Planetary Health Festival (second part) - 4 Oct 2024
มุมมอง 17หลายเดือนก่อน
Professor Bruno Siciliano at the symposium “Planetary Community: A New Cultural, Ethical, Philosophical, and Sociological Horizon for the Future of Human Life on Earth” at the Planetary Health Festival, held in Verona on October 4, 2024. Alongside high-profile experts, Professor Siciliano contributed to the discussion on key issues related to planetary health and the future of humanity.
Prof. Bruno Siciliano @ Planetary Health Festival - 4 Oct 2024
มุมมอง 49หลายเดือนก่อน
Professor Bruno Siciliano at the symposium “Planetary Community: A New Cultural, Ethical, Philosophical, and Sociological Horizon for the Future of Human Life on Earth” at the Planetary Health Festival, held in Verona on October 4, 2024. Alongside high-profile experts, Professor Siciliano contributed to the discussion on key issues related to planetary health and the future of humanity.
Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems
มุมมอง 2174 หลายเดือนก่อน
Video associated to the paper G. D’Ago, M. Selvaggio, A. Suarez, F. J. Gañán, L. R. Buonocore, M. Di Castro, V. Lippiello, A. Ollero, F. Ruggiero, "Modelling and identification methods for simulation of cable-suspended dual-arm robotic systems," Robotics and Autonomous Systems, Volume 175, 2024, 104643, ISSN 0921-8890, doi.org/10.1016/j.robot.2024.104643. Abstract This paper proposes rigid-body...
Prof. Bruno Siciliano at S(i)mart's presentation - Digit - 19 Jul 2024
มุมมอง 424 หลายเดือนก่อน
Prof. Bruno Siciliano interviewed talks about S(i)mart, the first intelligent sofa that integrates artificial intelligence (AI) algorithms. S(i)mart is developed by SimarLabs and the Department of Electrical Engineering and Information Technology of the University of Naples Federico II.
Prof. Bruno Siciliano's interview for Espresso Podcast - 18 Jul 2024
มุมมอง 494 หลายเดือนก่อน
Prof. Bruno Siciliano's interview for Espresso Podcast - 18 Jul 2024
Prof. Fanny Ficuciello's interview for Quasar - Rai 2 - 22 Jun 2024
มุมมอง 2215 หลายเดือนก่อน
Prof. Fanny Ficuciello professor speaks about PRISMA Hand II, rehabilitation project involving a prosthesis of anthropomorphic robotic hand accompanied by a simulator for the training of the patient in virtual reality.
Prof. Fanny Ficuciello's interview for Quasar - Rai 2 - 18 May 2024
มุมมอง 3046 หลายเดือนก่อน
Prof. Fanny Ficuciello professor speaks about robotic surgery and MUSHA: a surgical tool for robot-assisted laparoscopy.
Prof. Vincenzo Lippiello's interview for Quasar - Rai 2 - 11 May 2024
มุมมอง 2857 หลายเดือนก่อน
Prof. Vincenzo Lippiello talks about aerial robotics and its use to replace humans in hazardous tasks.
An Intuitive Manual Guidance Scheme to Operate Rotation and Translation Simultaneously
มุมมอง 2657 หลายเดือนก่อน
An Intuitive Manual Guidance Scheme to Operate Rotation and Translation Simultaneously
Shared-control teleoperation methods for a cable-suspended dual-arm unmanned aerial manipulator
มุมมอง 2377 หลายเดือนก่อน
Shared-control teleoperation methods for a cable-suspended dual-arm unmanned aerial manipulator
Autonomous Visual Inspection of Industrial Plants Using Unmanned Aerial Vehicles
มุมมอง 1137 หลายเดือนก่อน
Autonomous Visual Inspection of Industrial Plants Using Unmanned Aerial Vehicles
A Model-Based Oscillation Suppression Approach for a Cable-Suspended Dual-Arm Aerial Manipulator
มุมมอง 1567 หลายเดือนก่อน
A Model-Based Oscillation Suppression Approach for a Cable-Suspended Dual-Arm Aerial Manipulator
Development of Model-Based Controllers in PX4 Firmware: A Template-Based Customization Approach
มุมมอง 3337 หลายเดือนก่อน
Development of Model-Based Controllers in PX4 Firmware: A Template-Based Customization Approach
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
มุมมอง 1.3K7 หลายเดือนก่อน
Design of a Flexible Robot Arm for Safe Aerial Physical Interaction
Prof. Bruno Siciliano's interview for Codex - Rai 3 - 2 Apr 2024
มุมมอง 1778 หลายเดือนก่อน
Prof. Bruno Siciliano's interview for Codex - Rai 3 - 2 Apr 2024
Bruno Siciliano's interview on AI and Industry 5.0 - Innovation Post - 21 Mar 2024
มุมมอง 728 หลายเดือนก่อน
Bruno Siciliano's interview on AI and Industry 5.0 - Innovation Post - 21 Mar 2024
PRISMA Drone Team @ Leonardo Drone Contest 2023 - TG2 Motori - 2 Dec 2023
มุมมอง 212ปีที่แล้ว
PRISMA Drone Team @ Leonardo Drone Contest 2023 - TG2 Motori - 2 Dec 2023
Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform
มุมมอง 645ปีที่แล้ว
Development of a semi-autonomous framework for NDT inspection with a tilting aerial platform
Robotics Meets AI & 5G - The Future is Now! Lecture by Prof. B. Siciliano - 28 Nov 2023
มุมมอง 238ปีที่แล้ว
Robotics Meets AI & 5G - The Future is Now! Lecture by Prof. B. Siciliano - 28 Nov 2023
Prof. Fanny Ficuciello presents PRISMA-I-PRO @ Innovation Village Award 2023 - Nov 2023
มุมมอง 65ปีที่แล้ว
Prof. Fanny Ficuciello presents PRISMA-I-PRO @ Innovation Village Award 2023 - Nov 2023
Prof. Fanny Ficuciello's interview @ Innovation Village Award 2023 - Nov 2023
มุมมอง 63ปีที่แล้ว
Prof. Fanny Ficuciello's interview @ Innovation Village Award 2023 - Nov 2023
Prof. Bruno Siciliano's interview @ Rotary Club of East Naples - TGR Campania - 19 Oct 2023
มุมมอง 25ปีที่แล้ว
Prof. Bruno Siciliano's interview @ Rotary Club of East Naples - TGR Campania - 19 Oct 2023
Prof. Bruno Siciliano's interview @ IIAAC for TV Medica - 10 Oct 2023
มุมมอง 14ปีที่แล้ว
Prof. Bruno Siciliano's interview @ IIAAC for TV Medica - 10 Oct 2023
Hi, your experiment is very valuable. I like it very much. I am also working on the rotor tilt control, I build your code and get it on pixhawk v6c, but I can't connect my RC and can't use manual operation mode, what is the situation? Finally, can you make a video on how to adjust the px4 firmware code, i want to learn about it , thanks
🗣️IDOLOOOOO
Thanks for sharing, it will be a very useful work.
Inventing mosquito
thats sick🔥🔥
Nice job
This is cool, now imagine that in space with thrusters.
Ciao, sono uno studente del 5° anno di un istituto tecnico, indirizzo meccanica e meccatronica , a scuola abbiamo un laboratorio di robotica con tanto di braccio robotico abb. Appena sono entrato lì dentro me ne sono subito innamorato. Ho deciso di proseguire gli studi, ingegneria dell'automazione, spero un giorno di avere la possibilità di seguire una lezione del prof siciliano, è un idolo.
Talk less, accomplish more.
awesome
Grandissimo tifoso del Napoli.. il prof. Siciliano...
Hi! It's really great to see tilt rotors getting open sourced on pre-existing open source flight controller software. I am working on a novel co-axial tilt tri-rotor. Would love to work on that with you guys.
Forza proff
Grandissimo😂😂😂😂
Prufsso', e che stat cumbinann...
Excuse me, how does dVRK connect to geomatic touch? What are the drivers
How’s everything going?- that is awesome -
guy,Bonjournice to meet you-Yo!unusual footage-
Thank you for sharing
sweet
great !!!
Straordinario
Thank you for sharing.
Ottimo lavoro! Grandiiii
Is there any possibility to view the kinetic model? I'm a young engineering student and fascinated by the stretching technic. It also would help me to improve my own movement. Best Regards Alex
cool
can we control multi pal drones this is very interesting can u explain to me
How can I access this for project implementation?
Is this Bruno Sicilliano narrating?
I guess Justin will never learn clapping ;)
pizza.ai
I'm very interested to know how the force sensor works! I'm a mechanical engineer in my 2nd year in KUL, can I somehow get in touch with you to get to know how the system works? Kind regards, Emma
Hi Prisma Interesteing video. Any new progressions regaring the robot arm on the Drone/UAV? Please send a mail to Torbjorn.haganes@akersolutions.com
This an amazing implementation of impedance control! I am working on a similar project could you possibly send me the code or the equations you used or tge references you have read on impedance control since i am having difficulty finding articles on that.
1:34 I see what you did there (¬_¬)
Very cool! Have y’all published any papers regarding this research?
bella schifezza
Hey Guys, this video is awesome we'd love to post it on our extreme facebook page facebook.com/extreme, with full credits, drop me an email at charlie.fox.extreme@gmail.com , thanks, Charlie
People here commenting on how bad the pizza is - the techniques used here are at the cutting edge of robotics. Simple tasks that are easy for a human are very difficult to model and execute in a machine. Great work! It is only a matter of time till we see robots in domestic kitchens
Cool robot, but terrible pizza
dear, could you give me an email address in order to send you a quotation concerning some robotic designs of yours? we would like to buy or rend some of them
1 leaf of basil? that is not a pizza it's a shit
There's plenty Italian designer and artist who could design a better face for that robot!
Felicidades Alex Giles, ese chavo es super inteligente, fue mi compañero en la UNAM y se fue de México. Otro talento que se nos va
good
Secondo me, applicazioni nella massoterapia e/o fisioterapia si rivelerebbero estremamente interessanti... (Ovviamente spetta agli esperti il giudizio finale) ma personalmente lo vedo come un'ottimo utilizzo, sopratutto in una società che sta invecchiando
Grandi!