Marco Faroni

Marco Faroni

Robotics researcher

MPC for path following of redundant manipulators

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Selected publications:

  • M. Faroni, M. Beschi, N. Pedrocchi, and A. Visioli, “Predictive inverse kinematics for redundant manipulators with task scaling and kinematic constraints,” IEEE Transactions on Robotics, vol. 35, no. 1, pp. 278–285, 2019. [PDF]

  • M. Faroni, M. Beschi, and N. Pedrocchi, “Inverse kinematics of redundant manipulators with dynamic bounds on joint movements,” IEEE Robotics and Automation Letters, vol. 5, pp. 6435– 6442, 2020. [PDF] [video]

  • M. Faroni, M. Beschi, V. Antonio, and L. Molinari Tosatti, “A predictive approach to redundancy resolution for robot manipulators,” IFAC-PapersOnLine, vol. 50, no. 1, pp. 8975–8980, 2017. [PDF]

  • M. Faroni, M. Beschi, N. Pedrocchi, and A. Visioli, “Viability and feasibility of constrained kinematic control of manipulators,” Robotics, vol. 7, no. 3, pp. 1–19, 2018. [PDF]