V. Zanotto

TL;DR: The proposed technique enables one to take into account kinematic constraints on the robot motion, expressed as upper bounds on the absolute values of velocity, acceleration and jerk, in comparison with those provided by another important trajectory planning technique.

TL;DR: An analysis of the results of an algorithm for optimal trajectory planning of robot manipulators is described, which allows to set constraints on the robot motion, expressed as upper bounds on the absolute values of velocity, acceleration and jerk.

TL;DR: It is shown that this approach can be successfully adapted to plants whose dynamical behavior is both nonlinear and fast changing, and the effectiveness of this control system will be compared to the performance obtained with a classical industrial control.

TL;DR: In this article, a general and practical procedure for the design of high-performance and robust control schemes for the position and vibration control of flexible link mechanisms is introduced based on a mixed H2/H∞ optimization which allows trading explicitly between nominal performance and robust stability.