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About

T. Raimondi’s research career bridges two distinct engineering domains: nuclear fusion robotics and advanced robotic control systems. In fusion technology, Raimondi contributed to the Joint European Torus (JET) project, authoring foundational papers on remote handling equipment for hazardous environments—critical for the preparation of deuterium-tritium (D-T) phase operations. These works, though modest in citation count, represent early engineering solutions for fusion reactor maintenance. Raimondi’s primary impact lies in adaptive control strategies for robotic manipulators. A key contribution is the development of control laws that use filtered signals to generate PD action and velocity estimates, specifically designed to reduce harmonic content in joint torques while compensating for Coulomb friction. This work addresses practical challenges such as noisy velocity data and compliance in mechatronic systems—elasticity found in cable drives, harmonic drives, and flexible links. By combining adaptive control with digital filtering of position data for velocity estimation, Raimondi’s methods improve trajectory tracking accuracy without requiring expensive tachometers. The experimental validation of these approaches demonstrates their real-world applicability. While citation counts remain modest (2–9 per paper), the sustained focus on reducing torque harmonics and compensating for real-world nonlinearities marks Raimondi as a pragmatic engineer advancing the reliability of robotic systems in industrial settings.