Papers in International Journals

  1. G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco: "Decoupling Force and Motion Control in Industrial Robots", IFAC Journal Control Engineering Practice, Vol. 1, November 1993, pp. 1019-1027.

  2. G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco: "Joint Stiffness Estimation Based on Force Sensor Measurements in Industrial Manipulators", Transactions of the ASME: Journal of Dynamic Systems, Measurements and Control, Vol. 116, March 1994, pp. 163-167.

  3. G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco: "Simulating Discontinuous Phenomena Affecting Robot Motion", Journal of Intelligent & Robotic Systems, to appear.

  4. G.Ferretti, G.Magnani, P.Rocco: "On the Stability of Integral Force Control in Case of Contact with Stiff Surfaces", Transactions of the ASME: Journal of Dynamic Systems, Measurements and Control, to appear.

Papers presented in International Conferences

  1. G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco: "Decoupling Force and Motion Control in Industrial Robots", Proc. of the 12th World Congress IFAC, Sydney, July 18-23, 1993, Vol. 7, pp. 397-402.

  2. G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco: "Simulating Discontinuous Phenomena Affecting Robot Motion", Proc. of the IMACS Symposium on Mathematical Modelling, 1. MATHMOD 1994, Vienna, February 2-4, 1994, Vol. 3, pp. 559-565.

  3. G.Ferretti, G.Magnani, P.Rocco: "Estimation of Resonant Transfer Functions in the Joints of an Industrial Robot", Proc. of the 2nd IFAC Symposium on Intelligent Control and Control Applications, SICICA '94, Budapest, June 8-10, 1994, pp. 371-376.

  4. G.Ferretti, G.Magnani, P.Rocco: "Motor and Load Velocity Estimation for Digital Servo Drives: an Application to Robots with Elastic Joints", Proc. of the 20th International Conference on Industrial Electronics, Control and Instrumentation, IECON '94, Bologna, September 5-9, 1994, pp. 1748-1753.

  5. G.Ferretti, G.Magnani, P.Rocco: "Stiffness Constants Identification Methods for Industrial Robots Joints", IFAC Symposium on Robot Control, Proc. of the IFAC Symposium on robot Control, SYROCO '94, Capri, September 19-21, 1994,pp. 613-618.

  6. C.Maffezzoni, P.Rocco: "Robust Tuning of PID Regulators Based on Step-response Identification", to be presented at the European Control Conference, Roma, September 1995.

Papers in Italian Journals

  1. A.Carozzi, G.Ferretti, C.Maffezzoni, G.Magnani, G.Rizzi, P.Rocco, A.Rusconi: "Robotics Workbench - un Ambiente Integrato per la Simulazione di Sistemi Robotici [Robotics Workbench - an Integrated Environment for the Simulation of Robotic Systems]", Automazione e Strumentazione, May 1992.

  2. G.Ferretti, G.Magnani, P.Rocco, J.Krauss: "Identificazione di Risonanze Meccaniche nei Giunti di un Robot Industriale [Identification of Mechanical Resonances in the Joints of an Industrial Robot]", Automazione e Strumentazione, in press.

Papers presented in Italian Conferences

  1. P.Rocco: "Scheduling Automatico di Algoritmi di Controllo Robotici su Architetture Parallele [Automatic Scheduling of Robotic Control Algorithms on Parallel Architectures]", Automazione 1994, Perugia, October 25-27, 1994.

  2. G.Ferretti, G.Magnani, P.Rocco, D.Maspero: "Stima della Velocita' del Motore e del Carico per Azionamenti Digitali: un'Applicazione ai Robot con Giunti Flessibili [Motor and Load Velocity Estimation for Digital Servo Drives: an Application to Robots with Flexible Joints]", Automazione 1994, Perugia, October 25-27, 1994.

Internal Reports

  1. C. Maffezzoni, G.Ferretti, G.Magnani, P.Rocco: "Experiments in Surface Following with an Industrial Robot", Internal Report 92.028, Dipartimento di Elettronica e Informazione, Politecnico di Milano.

  2. G.Ferretti, P.Rocco: "Efficient Dynamic Modeling of Manipulators Containing Closed Kinematic Loops", Internal Report 92.083, Dipartimento di Elettronica e Informazione, Politecnico di Milano.

  3. P. Rocco: "Frequency-Domain Model Error Bounds from Step Response Techniques with Application to Robust Tuning of PIDs", Internal Report 94.029, Dipartimento di Elettronica e Informazione, Politecnico di Milano.

Submitted Papers

  1. P.Rocco: "Stability of PID Control for Industrial Robot Arms", Submitted to the IEEE Transactions on Robotics and Automation.

  2. G.Ferretti, G.Magnani, P.Rocco: "Towards the Implementation of Hybrid Force Control in Industrial Robots". Submitted to the IEEE Transactions on Robotics and Automation.

  3. P.Rocco, G.Ferretti, G.Magnani: "Implicit Force Control for Industrial Robots in Contact with Stiff Surfaces". Submitted to Automatica.

  4. G. Ferretti, G.Magnani, P.Putz, P.Rocco: "A Methodology to Design Robot Controllers: a Case Study for Next Generation Industrial Applications". Submitted to Control Engineering Practice.

  5. C.Maffezzoni, P.Rocco: "Robust Tuning of PID Regulators Based on Step-response Identification". Submitted to the European Journal of Control.

Last Revised: May 12, 1995