A. Gasparetto; "A New Method for Smooth Trajectory Planning..."
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Faculty of Engineering and Natural Sciences

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A New Method for Smooth Trajectory Planning of Robot Manipulators

Prof. A. Gasparetto, University of Udine, Italy

  A new method for smooth trajectory planning of robot manipulators will be described. In order to ensure that the resulting trajectory is smooth enough, an objective function containing a term proportional to the integral of the squared jerk (defined as the derivative of the acceleration) along the trajectory is considered. Moreover, a second term, proportional to the total execution time, is added to the expression of the objective function. The kinematic constraints of the manipulator are taken into account. An analysis of the experimental results yielded by a minimum time-jerk trajectory planning algorithm is then carried out. The outcomes of the tests are compared with both simulations and experimental results obtained by using a “classic” spline trajectory planning algorithm, as well as other relevant algorithms proposed in the scientific literature. The experimental tests are carried out by using an accelerometer mounted on a robot. This novel technique has been presented to international conferences and published in some scientific journals, obtaining a relevant number of citations.   Biography Alessandro Gasparetto was born in Rovigo (Italy) in 1968. He received the Masters degree in Electronic Engineering from University of Padova in 1992 and achieved the PhD in Applied Mechanics from University of Brescia in 1996. He also has a Master degree in Mathematics (University of Padova, 2003). In 1994, he worked at Robosoft SA (Paris, France) in the framework of the European SMART project. He was assistant Professor of Mechatronics at the Faculty of Engineering of the University of Udine (1995-2000) and associate Professor of Mechatronics and Mechanics of Robot at the Faculty of Engineering of the University of Udine (2000-2007). He is currently full professor of Mechatronics and Mechanics of Robot at the Faculty of Engineering of the University of Udine (since 2007). He has been the delegate for the internationalisation of the Faculty of Engineering of the University of Udine (2006-to date). He regularly teaches courses and seminars about Robotics at the Université Blaise-Pascal of Clermont-Ferrand (France), at the Universidad de Murcia (Spain) and at the University Politehnica of Timisoara (Romania), in addition to several scientific and didactic cooperations with European and extra-European Universities. The research activity of Prof. Gasparetto is in the fields of Mechatronics, Robotics and Vibration Mechanics, with more than 90 international publications. He was involved in several research projects sponsored by the Italian Ministry of the University, as the Associated Investigator of the Unit of Udine: project PRIN 2006-08, 2004-06, 2001-03, 1999-2001. He was also involved in some European projects for research and curriculum development. He is co-inventor of two patents in the field of industrial automation.     July 15, 2010, 10:30, FENS 2019