July 2025 – Industrial Robotics, Mechatronics & Automation Laboratory @ Bologna

Inverse Kinematics Analysis for a Reconfigurable Parallel Robot

Brief Project Description Study of the kinematics of a 4-DOF parallel robot with the determination of a closed-form solution for inverse kinematics. The solution must be implemented in Structured Text…

Innovative Systems for Depalletization

Brief Project Description Design of innovative solutions for the depalletization phase of GD machines, currently performed with serial robots and two adjacent pallets. The objective is to find alternatives that…

RoboMaster Mechanical Redesign

Brief Project Description Project review of the RoboMaster with the aim of overcoming current limitations through the adoption of new motorizations (torque motors, frameless motors, etc.) and potential improvements to…

Optimization of Robot Handling Dynamics

Brief Project Description Starting from point-to-point trajectory planning or 7-segment trapezoidal profiles, offline algorithms are developed to minimize jerk or maximum accelerations. The objective is to reduce cycle times or…

Motion Optimization to Reduce Sloshing (Anti-Sloshing)

Brief Project Description Analysis of analytical methods based on the frequency spectrum to optimize motion according to standard automation laws (trapezoidal velocity or acceleration profiles), in order to reduce the…

Self-Collision Management in 6-Axis Serial Robots and Extensions

Brief Project Description Study and validation of trajectory planning algorithms to avoid self-collision between parts of a 6-axis robot, with the possibility of extension to external obstacles defined in the…

Trajectory Planning with Obstacle Avoidance

Brief Project Description Development of motion planning from point A to point B for an N-degree-of-freedom (DOF) mechanism, with the implementation of an algorithm capable of real-time trajectory correction for…