Paolo Rocco

Publications

 

Papers submitted to International Journals

[SI1]   A.M. Zanchettin, L. Bascetta, P. Rocco

         “Human-like redundancy resolution for anthropomorphic industrial manipulators”

 

[SI2]   B. Lacevic, P. Rocco

         “Safety-Oriented Path Planning for Articulated Robots”

 

[SI2]   L. Bascetta, P. Rocco, A.M. Zanchettin, G. Magnani

         “Automatic tuning of the velocity control of a washing machine”

 

Papers published in International Journals

[IJ32]  L. Bascetta, P. Rocco, A.M. Zanchettin, G. Magnani

         “Velocity control of a washing machine: a mechatronic approach”

         Mechatronics, United Kingdom, in press

 

[IJ31]  A.M. Zanchettin, P. Rocco.

         “A general user-oriented framework for holonomic redundancy resolution in robotic manipulators using task augmentation”.

         IEEE Transactions on Robotics , USA, DOI 10.1109/TRO.2011.2173852, 2011

 

[IJ30]  B. Lacevic, P. Rocco.

         “Closed form solution to controller design for human-robot interaction”.

         ASME Journal of Dynamic Systems, Measurement, and Control, USA, Vol. 133, No. 2, March 2011.

 

[IJ29]  L. Bascetta, P. Rocco.

         “Revising robust control for rigid robot manipulators”.

         IEEE Transactions on Robotics , USA, Vol. 26, No. 1, pp. 180-187, February 2010.

 

[IJ28]  G. Magnani, P. Rocco.

         “Mechatronic analysis of a complex transmission chain for performance optimization in a machine tool”.

         Mechatronics, United Kingdom, Vol. 20, No. 1, pp. 85-101, February 2010

 

[IJ27]  L. Bascetta, G. Magnani, P. Rocco, A. Zanchettin.

         “Performance limitations in Field Oriented Control for asynchronous machines with low resolution position sensing”.

         IEEE Transactions on Control Systems Technology , USA, Vol. 18, No. 3, pp. 559-573, May 2010.

 

[IJ26]  L. Bascetta, P. Rocco, G. Magnani.

         “Force ripple compensation in linear motors based on closed loop position dependent identification”.

         IEEE/ASME Transactions on Mechatronics , USA, Vol. 15, No. 3, pp. 349-359, June 2010.

 

[IJ25]  L. Bascetta, G. Magnani, P. Rocco.

         “Velocity estimation: assessing the performance of non model-based techniques”.

         IEEE Transactions on Control Systems Technology , USA, Vol. 17, No. 2, pp. 424-433, March 2009.

 

[IJ24]  L. Bascetta, P. Rocco.

         “Two-time scale visual servoing of eye-in-hand flexible manipulators”

         IEEE Transactions on Robotics , Vol. 22, No. 4, pp. 818-830, August 2006.

 

[IJ23]  L. Bascetta, P. Rocco.

         “End-point vibration sensing of planar flexible manipulators through visual servoing”

         Mechatronics, Vol. 16, pp. 221-232, 2006.

 

[IJ22]  G.Ferretti, G.Magnani, P.Rocco, L. Viganò

         “Modelling and Simulation of a Gripper with DYMOLA”

         Mathematical and Computer Modelling of Dynamical Systems, Vol. 12, pp. 89-102, 2006.

 

[IJ21]  G.Ferretti, G.Magnani, P.Rocco

         “Single and Multi-State Integral Friction Models”,

         IEEE Transactions on Automatic Control, Vol. 49, December 2004, pp. 2292-2297.

 

[IJ20]  G.Ferretti, G.Magnani, P.Rocco

         “Virtual Prototyping of Mechatronic Systems”,

         Annual Reviews in Control, Vol. 28, 2004, pp. 193-206.

 

[IJ19]  G.Ferretti, G.Magnani, P.Rocco

         “Impedance Control for Elastic Joints Industrial Manipulators”,

         IEEE Transactions on Robotics and Automation, Vol. 20, June 2004, pp. 488-498.

 

[IJ18]  L. Bascetta, P.Rocco

         “Modelling Flexible Manipulators with Motors at the Joints”,

         Mathematical and Computer Modelling of Dynamical Systems, Vol. 8, 2002, pp. 157-183.

 

[IJ17]  G.Ferretti, G.Magnani, P.Rocco

         “Modeling and Experimental Analysis of the Vibrations in Hard Disk Drives”,

         IEEE/ASME Transactions on Mechatronics, Vol. 7, June 2002, pp. 152-160.

 

[IJ16]  C.Maffezzoni, P. Rocco

         “The Index of PDAEs Applied to the Modelling of a Flexible Mechanical System”,

         Mathematical and Computer Modelling of Dynamical Systems, Vol.7, 2001, pp.305-321.

 

[IJ15]  G.Ferretti, G.Magnani, P.Rocco

         “Triangular Force/Position Control with Application to Robotic Deburring”,

         Machine Intelligence and Robotic Control, Vol. 2, June/July 2000, pp. 83-91.

 

[IJ14]  G.Ferretti, S. Filippi, C. Maffezzoni, G.Magnani, P.Rocco

         “A Modular Approach to Dynamic Virtual Reality Modeling of Robotic Systems”,

         IEEE Robotics and Automation Magazine, Vol. 6, December 1999, pp. 13-23.

 

[IJ13]  G.Ferretti, G.Magnani, P.Rocco

         “Force Oscillations in Contact Motion of Industrial Robots: an Experimental Investigation”,

         IEEE/ASME Transactions on Mechatronics, Vol. 4, March 1999, pp. 86-91.

[IJ12]  G.Ferretti, G.Magnani, P.Rocco

         “Modelling, Identification and Compensation of Pulsating Torque in Permanent Magnet AC Motors”,

         IEEE Transactions on Industrial Electronics, Vol. 45, December 1998, pp. 912-920.

 

[IJ11]  P.Rocco

         “Singular Perturbation Model of Robots with Elastic Joints and Elastic Links Constrained by Rigid Environment”,

         Journal of Intelligent and Robotic Systems, Vol. 22, June 1998, pp. 143-152.

 

[IJ10]  G.Ferretti, G.Magnani, P.Rocco

         “Towards the Implementation of Hybrid Position/Force Control in Industrial Robots”,

         IEEE Transactions on Robotics and Automation, Vol. 13, December 1997, pp. 838-844.

 

[IJ9]   P.Rocco, G.Ferretti, G.Magnani

         “Implicit Force Control for Industrial Robots in Contact with Stiff Surfaces”,

         Automatica, Gran Bretagna, Vol. 33, November 1997, pp. 2041-2047.

 

[IJ8]   P.Rocco

         “On 'Stability and Control of Elastic-Joint Robotic Manipulators During Constrained-Motion Tasks'”,

         IEEE Transactions on Robotics and Automation, Vol. 13, June 1997, pp. 467-469.

 

[IJ7]   C.Maffezzoni, P.Rocco

         “Robust Tuning of PID Regulators Based on Step-Response Identification”,

         European Journal of Control, Vol. 3, 1997, pp. 125-136.

 

[IJ6]   P.Rocco

         “Stability of PID Control for Industrial Robot Arms”,

         IEEE Transactions on Robotics and Automation, Vol.12, August 1996, pp. 606-614.

 

[IJ5]   G.Ferretti, G.Magnani, P.Putz, P.Rocco

         “The Structured Design of an Industrial Robot Controller”,

         Control Engineering Practice, Vol.4, March 1996, pp.239-249.

 

[IJ4]   G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco

         “Simulating Discontinuous Phenomena Affecting Robot Motion”,

         Journal of Intelligent & Robotic Systems, Vol.15, 1996, pp.53-65.

 

[IJ3]   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, Vol.117, December 1995, pp.547-553.

 

[IJ2]   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.

[IJ1]   G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco

         “Decoupling Force and Motion Control in Industrial Robots”,

         Control Engineering Practice, Vol.1, November 1993, pp.1019-1027.

 

Editorials in International Journals

[EIJ2]  G.Ferretti, P.Rocco

         “Introduction to the special issue on modular physical modelling”,

         Mathematical and Computer Modelling of Dynamical Systems, Vol. 12, pp. 1-3, 2006.

 

[EIJ1]  G.Magnani, P.Rocco

         “Introduction to the special section on mechatronics”,

         Annual Reviews in Control, Vol. 28, 2004, pp. 179-180.

 

International books chapters

[IBC4] G.Ferretti, G.Magnani, P.Rocco:

         “Web-based industrial robot teleoperation : an application”,

         in: Web – based control and robotics education,S. G. Tzafestas Ed., Springer, (The Netherlands), 2009, pp. 249-266.

 

[IBC3] G.Ferretti, G.Magnani, P.Rocco:

         “Model Based Friction Compensation”,

         in: Advances in Control of Articulated and Mobile Robots, B. Siciliano, A. De Luca, C. Melchiorri and G. Casalino Eds., STAR, Springer, Heidelberg, 2003, pp. 87-100.

 

[IBC2] G.Ferretti, G.Magnani, G. Martucci, P.Rocco, V. Stampacchia

         “Friction Model Validation in Sliding and Presliding Regimes with High Resolution Encoders”,

         in: Experimental Robotics VIII, B. Siciliano and P. Dario Eds., STAR, Springer, Heidelberg, 2003, pp. 328-337.

 

[IBC1] G.Ferretti, G.Magnani, P.Rocco

         “Modelling and Control of Servomechanisms”,

         in: RAMSETE, Articulated and Mobile Robots for Services and Technology, S.Nicosia, B.Siciliano, A. Bicchi and P.Valigi Eds., LNCIS, Springer, Heidelberg, 2001, pp. 27-54.

 

 

Papers in International Conferences

[IC73] B. Lacevic, P. Rocco, and M. Strandberg

         “Safe motion planning for articulated robots using RRTs”

         International Symposium on Information, Communication and Automation Technologies (ICAT 2011), Sarajevo, Bosnia and Herzegovina, October 2011

 

[IC72] L. Bascetta, G. Ferretti, P. Rocco, H. Ardö, H. Bruyininckx, E. Demeester, E. Di Lello

         “Towards safe human-robot interaction in robotic cells: an approach based on visual tracking and intention estimation”

         IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, September 2011.

 

[IC71] B. Lacevic, P. Rocco

         “Safety-oriented control of robotic manipulators - a kinematic approach”

         18th IFAC World Congress (IFAC 2011), Milano, Italy, August/September 2011.

 

[IC70] A.M. Zanchettin, P. Rocco

         “On the use of functional redundancy in industrial robotic manipulators for optimal spray painting”

         18th IFAC World Congress (IFAC 2011), Milano, Italy, August/September 2011.

 

[IC69] I. Symeonidis, S. Peldschus, A.M. Zanchettin, P. Rocco, D. Bortot, K. Bengler

         “Database of human reach motions in work environment”

         First International Symposium on Digital Human Modeling (DHM 2011), Lyon, France, June 2011

 

[IC68] A.M. Zanchettin, P. Rocco, A. Robertsson, R. Johansson

         “Exploiting task redundancy in industrial manipulators during drilling operations”

         IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 2011, pp. 128-133.

 

[IC67] A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symeonidis, S. Peldschus

         “Kinematic analysis and synthesis of the human arm motion during a manipulation task”

         IEEE International Conference on Robotics and Automation (ICRA 2011), Shanghai, China, May 2011, pp. 2692-2697.

 

[IC66] B. Lacevic, P. Rocco

         “Towards a complete safe path planning for robotic manipulators”

         IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 2010, pp. 5366-5371.

 

[IC65] B. Lacevic, P. Rocco

         “Kinetostatic danger field - A novel safety assessment for human-robot interaction”

         IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan, October 2010, pp. 2169-2174.

 

[IC64] G. Ferretti, G. Gruosso, G. Magnani, M. Redaelli, P. Rocco and G. Guardabassi

         “Mechatronic design of the sun tracking system of a linear Fresnel reflector solar plant”

         IFAC Symposium on Mechatronic Systems (Mechatronics '10), Cambridge, Massachusets, September 2010.

 

[IC63] B. Lacevic, P. Rocco

         “Sampling-based safe path planning for robotic manipulators”

         IEEE International Conference on Emerging Technologies and Factory Automation (ETFA 2010), Bilbao, Spain, September 2010,

 

[IC62] A.M. Zanchettin, P. Rocco, G. Ferretti

         “Numerical issues in integrating holonomic kinematic inversion algorithms for redundant manipulators”

         IFAC International Symposium  on Nonlinear Control Systems (NOLCOS 2010), Bologna, Italy, September 2010.

 

[IC61] P. Rocco, G. Gruosso, G. Magnani

         “Mechatronic model of oscillations in hybrid stepper motors”

         IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2010), Montréal, Canada, July 2010, pp. 726-731.

 

[IC60] L. Bascetta, G. Magnani, P. Rocco, R. Migliorini, M. Pelagatti

         “Anti-collision systems for robotic applications based on laser Time-Of-Flight sensors”

         IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2010), Montréal, Canada, July 2010, pp. 278-284.

 

[IC59] A.M. Zanchettin, P. Rocco, L. Bascetta, I. Symeonidis, S. Peldschus

         “Kinematic motion analysis of the human arm during a manipulation task”

         International Symposium on Robotics (ISR 2010), Munich, Germany, June 2010.

 

[IC58] P. Rocco, A.M. Zanchettin

         “General parameterization of holonomic kinematic inversion algorithms for redundant manipulators”

         IEEE International Conference on Robotics and Automation (ICRA 2010), Anchorage, USA, May 2010 pp. 3721-3726.

 

[IC57] L. Bascetta, G. Magnani, P. Rocco, A.M. Zanchettin

         “Design and implementation of the low-level control system of an All-Terrain Mobile Robot”

         International Conference on Advanced Robotics - ICAR 2009, Munich, Germany, June 2009, Session TB2.

 

[IC56] G. Ferretti, G. Magnani, P. Rocco

         “Assigning virtual tool dynamics to an industrial robot through an admittance controller”

         International Conference on Advanced Robotics - ICAR 2009, Munich, Germany, June 2009, Session TD3.

 

[IC55] G. Ferretti, G. Magnani, P. Rocco

         “Some fundamental limitations in the control of two-mass systems”

         5th IEEE International Conference on Mechatronics  - ICM 2009, Malaga, Spain, April 2009, Session Fr2C.

 

[IC54] G. Magnani, P. Rocco, L. Trevisan, A.M. Zanchettin, A. Rusconi

         “Torque control in the joint of a space robotic arm”

         5th IEEE International Conference on Mechatronics  - ICM 2009, Malaga, Spain, April 2009, Session We1B.

 

[IC53] L. Bascetta, G. Magnani, P. Rocco, S. Frattesi

         “Mechatronic analysis of the velocity control of a washing machine”

         5th IEEE International Conference on Mechatronics  - ICM 2009, Malaga, Spain, April 2009, Session Fr2C.

 

[IC52] G. Magnani, P. Porrati, G. Rizzi, P. Rocco, A. Rusconi

         “Modelling and real-time simulation of DEXARM”

         10th Workshop on Advanced Space Technologies for Robotics and Automation – ASTRA 2008, Noordwijk, The Netherlands, November 2008, Session: 15.

 

[IC51] G. Ferretti., G. Magnani, P. Porrati, G. Rizzi, P. Rocco, A. Rusconi

         “Real-time simulation of a space robotic arm”

         Workshop on robot simulators at the IEEE/RSJ International Conference on Intelligent RObots and Systems, Nice, France, September 2008.

 

[IC50] G. Magnani, P. Rocco, A. Rusconi

         “Modelling and position control of a joint prototype of DEXARM”

         IEEE International Workshop on Advanced Motion Control, Trento, Italy, March 2008, Session: ss6-2.

 

[IC49] L.Bascetta, G. Magnani, P.Rocco, W. Spinelli

         “Velocity estimation: assessing the performance of non model-based techniques”

         IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zurigo, Switzerland, September 2007. Session: Sensing II.

 

[IC48] L.Bascetta, G. Magnani, P.Rocco

         “Force ripple compensation in linear motors with application to a parallel kinematic machine”

         IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Zurich, Switzerland, September 2007. Session: Actuators.

 

[IC47] L.Bascetta, P.Rocco

         “Revising the robust control design for rigid robot manipulators”,

         IEEE International Conference on Robotics and Automation (ICRA 2007), Rome, Italy, April 2007, pp. 4478-4483.

 

[IC46] L.Bascetta, P.Rocco

         “Digital pole placement control of multi-mode flexible arms.”,

         ANIPLA International Congress, Rome, Italy, 13-15 November 2006, Session T1.1: Robot control.

 

[IC45] S. Galbersanini, M. Galimberti, G.Magnani, G. Mazzola, P.Rocco

         “Mechatronic analysis of a complex transmission chain”

            4th IFAC Symposium on Mechatronic Systems, Heidelberg, Germany, 12-14 September 2006, pp. 229-235.

 

[IC44] D. Camorali, G.Magnani, P.Rocco, A. Rusconi

         “Position/torque control of a space robotics arm”

            4th IFAC Symposium on Mechatronic Systems, Heidelberg, Germany, 12-14 September 2006, pp. 283-288.

[IC43] L.Bascetta, P.Rocco

         “Issues in the experimental implementation of the fast time scale controller for a flexible arm”,

         8th IFAC Symposium on Robot Control, Bologna, Italy, 6-8 September 2006, ThA-1.1-2.

 

[IC42] G.Ferretti, G.Magnani, P.Rocco, L. Viganò

         On the use of torque sensors in a space robotics application

            IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ’05), Edmonton, Canada, August 2005, pp. 2638-2643.

 

[IC41] L.Bascetta, P.Rocco

         “Visual control of robotic manipulators: designing a simplified stabilizing controller”,

         IFAC World Congress, Prague, Czech Republic, July 2005, We-A04-TO.

 

[IC40] G.Ferretti, F. Lucchini, G.Magnani, P.Rocco

         “A mechatronic approach to the control of machine tools”,

         IFAC World Congress, Prague, Czech Republic, July 2005, We-A04-TP/1.

 

[IC39] G.Ferretti, G. Gritti, G.Magnani, G. Rizzi, P.Rocco

         “Real time simulation of Modelica models under Linux/RTAI”,

         Modelica International Conference, Hamburg, Germany, March 2005, pp. 359-365.

 

[IC38] L.Bascetta, P.Rocco

         “Exploiting visual servoing to damp the vibrations of a planar flexible manipulator”,

         3rd IFAC Conference on Mechatronic Systems, Sydney, Australia, September 2004, pp. 541-546.

[IC37] L.Bascetta, P.Rocco

         “Tip position control of flexible manipulators through visual servoing”,

         6th International Conference on Dynamics and Control of Systems and Structures in Space, Rio Maggiore, Italy, July 2004, pp. 673-682.

 

[IC36] G.Ferretti, G.Magnani, P.Rocco, L. Viganò

         “The operational space control applied to a space robotic manipulator”,

         IEEE International Conference on Robotics and Automation (ICRA ’04), New Orleans, USA, April 2004, pp. 2550-2555.

 

[IC35] G.Ferretti, G.Magnani, P.Rocco

         “An integral friction model”,

         IEEE International Conference on Robotics and Automation (ICRA ’04), New Orleans, USA, April 2004, pp. 1809-1813.

 

[IC34] G.Ferretti, G.Magnani, P.Rocco

         “Load Behavior Concerned PID Control of Two-Mass Servo Systems”,

         IEEE/ASME International Conference on Advanced Mechatronics (AIM ’03), Kobe, Japan, July 2003, pp. 821-826.

 

[IC33] L.Bascetta, P.Rocco

         “Task Space Visual Servoing of Eye-in-Hand Flexible Manipulators”,

         IEEE/ASME International Conference on Advanced Mechatronics (AIM ’03), Kobe, Japan, July 2003, pp. 1442-1448.

 

[IC32] G.Ferretti, G.Magnani, P.Rocco

         “Modelling and simulation of a machining center with DYMOLA”,

         4th MATHMOD, Vienna, Austria, February 2003, pp. 507-513.

 

[IC31] G.Ferretti, G.Magnani, P.Rocco

         “Virtual prototyping of mechatronic systems in Modelica”,

         2nd IFAC Conference on Mechatronic Systems, Berkeley, USA, December 2002, pp. 865-870.

 

[IC30] G.Ferretti, G.Magnani, P.Rocco

         “Limitations in Control of Elastic Servos with Co-located Sensors”,

         International Workshop on Advanced Motion Control (AMC'02), Maribor, Slovenia, July 2002, pp. 92-97.

 

[IC29] G.Ferretti, G.Magnani, P.Rocco

         “Adaptive Compensation of Torque Disturbances in an Industrial Robot”,

         IFAC World Congress, Barcelona, Spain, July 2002, T-Th-M19.

 

[IC28] G.Ferretti, G.Magnani, P.Rocco

         “Suppression of Load Oscillations in Precision Servomechanisms Sensing Only Motor Position”,

         IFAC World Congress, Barcelona, Spain, July 2002, T-Tu-A21.

 

[IC27] L.Bascetta, A. Locatelli, P.Rocco

         “Efficient Models for Flexible Manipulators with Motors at the Joints”,

         IFAC World Congress, Barcelona, Spain, July 2002, T-Tu-M4.

 

[IC26] L.Bascetta, A. Locatelli, P.Rocco

         “Computationally Efficient Newton-Euler Models for Flexible Manipulators with Motors at the Joints”,

         3rd World Conference on Structural Control, Como, Italy, April 2002.

[IC25] G.Ferretti, G.Magnani, P.Rocco, L. Bonometti, M.Maraglino

         “Simulating Permanent Magnet Brushless Motors in DYMOLA”,

         Modelica International Conference, Munich, Germany, March 2002, pp. 109-115.

 

[IC24] G.Ferretti, G.Magnani, P.Rocco

         “Alternatives in Precise Load Motion Control of Two-Mass Servomechanisms”,

         IEEE/ASME International Conference on Advanced Mechatronics (AIM '01), Como, Italy, July 2001, pp. 893-898.

 

[IC23] G.Ferretti, A.Furlan, G.Magnani, G. Maiocchi, P.Rocco

         “Dynamic Model of a Multiple Disk and Spindle Assembly”,

         IEEE/ASME International Conference on Advanced Mechatronics (AIM '01), Como, Italy, July 2001, pp. 1130-1135.

 

[IC22] G.Ferretti, G.Magnani, P.Rocco

         “Driving a Servo System with an Impedance Controller”,

         IFAC Symposium on Robot Control (SYROCO'2000), Vienna, Austria, September 2000, pp. 103-108.

 

[IC21] G.Ferretti, G.Magnani, P.Rocco, F.Cecconello, G.Rossetti

         “Impedance Control for Industrial Robots”,

         IEEE International Conference on Robotics and Automation (ICRA ’00), S.Francisco, USA, April 2000, pp. 4028-4033.

 

[IC20] C. Maffezzoni, P.Rocco

         “Index Problems in Modelling and Simulation of Flexible Mechanical Systems”,

         3rd Mathmod, Vienna, Austria, February 2000, pp. 343-346.

 

[IC19] G.Ferretti, C. Maffezzoni, G.Magnani, P.Rocco

         “Modelling and Simulation of a Gripper”,

         3rd Mathmod, Vienna, Austria, February 2000, pp. 845-848.

 

[IC18] G.Ferretti, G.Magnani, P.Rocco

         “Torque Ripple Adaptive Rejection in Brushless Motors”,

         IEEE/ASME International Conference on Advanced Mechatronics (AIM '99), Atlanta, USA, September 1999, pp. 329-334.

 

[IC17] G.Ferretti, G.Magnani, P.Rocco

         “Modular Dynamic Modeling and Simulation of Grasping”,

         IEEE/ASME International Conference on Advanced Mechatronics (AIM '99), Atlanta, USA, September 1999, pp. 428-433.

 

[IC16] G.Ferretti, C. Maffezzoni, G.Magnani, P.Rocco, C.Melchiorri, G. Vassura

         “A Three Finger, Three Degree-of-Freedom Gripper for Intra-vehicular Robotic Manipulation”,

         5th ESA Workshop on Advanced Space Technologies for Robots and Automation (ASTRA ’98), 3.7-3.

 

[IC15] G.Ferretti, G.Magnani, P.Rocco

         “Online Identification and Compensation of Torque Disturbances in Permanent Magnet AC Motors”,

         International Conference on Industrial Electronics, Control and Instrumentation (IECON '98), Aachen, Germany, September 1998, pp. 1521-1526.

[IC14] G.Ferretti, G.Magnani, P.Rocco

         “LQG Control of Elastic Servomechanisms based on Motor Position Measurements”,

         IFAC Advanced Motion Control Workshop (AMC ’98), Coimbra, Portugal, June 1998, pp. 617-622.

 

[IC13] C. Maffezzoni, P.Rocco

         “Modeling Cable Dynamics Avoiding Index Problems”,

         6th IEEE Mediterranean Conference, Alghero, Italy, June 1998.

 

[IC12] G.Ferretti, G.Magnani, P.Rocco

         “Compensation of Motor Torque Disturbances in Industrial Robots”,

         IEEE International Conference on Robotics and Automation (ICRA ’98), Leuven, Belgium, May 1998, pp. 2995-3000.

 

[IC11] G.Ferretti, G.Magnani, P.Rocco

         “Experimental Analysis of the Disturbances Affecting Contact Force in Industrial Robots”,

         IEEE International Conference on Robotics and Automation (ICRA ’97), Albuquerque, NM, USA, April 1997, pp.2184-2189.

 

[IC10] P.Rocco

         “Singular Perturbation Model of Robots with Elastic Joints and Elastic Links Constrained by Rigid Environment”,

         2nd MATHMOD, Vienna, Austria, 5-7 February 1997, pp. 673-678.

 

[IC9]   G.Ferretti, G.Magnani, P.Rocco

         “Load Velocity and Position Control for Digital Elastic Servomechanisms”,

          27th International Symposium on Industrial Robots, Milano, Italy, October 1996, pp. 1033-1037.

 

[IC8]   P.Rocco, G.Ferretti, G.Magnani

         “Implicit Force Control for Industrial Robots in Contact with Stiff Surfaces”,

         IFAC World Congress, San Francisco, CA, USA, June-July 1996.

 

[IC7]   P.Rocco, W.J.Book

         “Modelling for Two-Time Scale Force/Position Control of Flexible Robots”,

         IEEE International Conference on Robotics and Automation (ICRA ’95), Minneapolis, MN, USA, 24-26 April 1996, pp.1941-1946.

 

[IC6]   C.Maffezzoni, P.Rocco

         “Robust Tuning of PID Regulators Based on Step-Response Identification”,

         European Control Conference (ECC '95), Roma, Italy, 5-8 September 1995, pp.2477-2482.

 

[IC5]   G.Ferretti, G.Magnani, P.Rocco

         “Stiffness Constants Identification Methods for Industrial Robot Joints”,

         IFAC Symposium on Robot Control (SYROCO '94), Capri, Italy, 19-21 September 1994, pp.613-618.

 

[IC4]   G.Ferretti, G.Magnani, P.Rocco

         “Motor and Load Velocity Estimation for Digital Servo Drives: an Application to Robots with Elastic Joints”,

         International Conference on Industrial Electronics, Control and Instrumentation (IECON '94), Bologna, Italy, 5-9 September 1994, pp.1748-1753.

[IC3]   G.Ferretti, G.Magnani, P.Rocco

         “Estimation of Resonant Transfer Functions in the Joints of an Industrial Robot”,

         IFAC Symposium on Intelligent Components and Instruments for Control Applications (SICICA '94), Budapest, Hungary, 8-10 June 1994, pp.371-376.

 

[IC2]   G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco

         “Simulating Discontinuous Phenomena Affecting Robot Motion”,

         MATHMOD 1994, Vienna, Austria, 2-4 February 1994, pp.559-565.

 

[IC1]   G.Ferretti, C.Maffezzoni, G.Magnani, P.Rocco

         “Decoupling Force and Motion Control in Industrial Robots”,

         IFAC World Congress, Sydney, Australia, 18-23 July 1993, Vol.7, pp.397-402.

 

Prof. Rocco is also the author of 15 papers in national journals, 19 papers in national conferences and two textbooks on automatic control, all of them in Italian.