In this paper we present the architecture of a mobile robotized system for logistic applications. The task to be performed consists of extracting items from homogeneous pallets and, subsequently, assembling new pallets with heterogeneous goods. A further requirement is the capability of a safe humanrobot interaction. For such purposes, we employ an autonomous mobile robot, equipped with a serial collaborative arm, a lifting mechanism, and a multi-sensor vision apparatus. The overall system is conceived to handle packages by dragging them aboard the mobile platform. Accordingly, we integrate a conveyor, whose vertical position can be adjusted by means of a scissor lifting mechanism. Thus, packages from different overlapping layers, which compose a generic pallet, can be introduced and stored on board.

Many industrial applications require the displacement of liquid-filled containers on planar paths, by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing, is usually undesired, so there is the necessity to keep under control the peaks that the liquid free surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional planar motions of a cylindrical container, with accelerations up to 9.5 m/s 2 . This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed.

Many industrial applications require the displacement of liquid-filled containers on planar paths (namely, paths on a horizontal plane), by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing, is usually undesired, thus there is the necessity to keep under control the peaks that the liquid free-surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional motions of a cylindrical container occurring on a horizontal plane, with accelerations up to 9.5 m/s2. This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed.Finally, the previous formulation is extended in order to take into account the addition of a vertical acceleration, up to 5 m/s2. The resulting 3-dimensional motions are experimentally validated to prove the effectiveness of the extended technique.

This paper presents a mobile manipulation platform designed for autonomous depalletizing tasks. The proposed solution integrates machine vision, control and mechanical components to increase flexibility and ease of deployment in industrial environments such as warehouses. A collaborative robot mounted on a mobile base is proposed, equipped with a simple manipulation tool and a 3D in-hand vision system that detects parcel boxes on a pallet, and that pulls them one by one on the mobile base for transportation. The robot setup allows to avoid the cumbersome implementation of pick-and-place operations, since it does not require lifting the boxes. The 3D vision system is used to provide an initial estimation of the pose of the boxes on the top layer of the pallet, and to accurately detect the separation between the boxes for manipulation. Force measurement provided by the robot together with admittance control are exploited to verify the correct execution of the manipulation task. The proposed system was implemented and tested in a simplified laboratory scenario and the results of experimental trials are reported.