Blar i SINTEF Open på forfatter "Arbo, Mathias Hauan"
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Constraint Definition for Gripper Selection and Grasp Planning for Robotic Assembly Using Product Manufacturing Information from STEP AP242Ed2 Files
Mohammed, Shafi K.; Arbo, Mathias Hauan; Tingelstad, Lars (Peer reviewed; Journal article, 2022)This article uses the Product Manufacturing Information (PMI) from STEP AP242 neutral files for gripper selection and grasp planning in a robotic assembly operation. The PMI, along with the part geometry and dimensions, ... -
Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints ... -
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based ... -
On the globally exponentially convergent immersion and invariance speed observer for mechanical systems
Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)In this article we present a reformulation of the invariance and immersion speed observer of Astolfi et al. as applied to mechanical systems with bounded inertia matrices. This is done to explore the possibility of its ...