4 papers
Improving dependability in robotized bolting operations
Lorenzo Pagliara, Violeta Redondo, Enrico Ferrentino +2
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solution…
Augmenting Neural Networks-Based Model Approximators in Robotic Force-Tracking Tasks
Kevin Saad, Vincenzo Petrone, Enrico Ferrentino +3
As robotics gains popularity, interaction control becomes crucial for ensuring force tracking in manipulator-based tasks. Typically, traditional interaction controllers either requ…
A ROS2-based software library for inverse dynamics computation
Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
Inverse dynamics computation is a critical component in robot control, planning and simulation, enabling the calculation of joint torques required to achieve a desired motion. This…
The Dynamic Model of the UR10 Robot and its ROS2 Integration
Vincenzo Petrone, Enrico Ferrentino, Pasquale Chiacchio
This paper presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First…