27 papers
Pose-Parameterized Motion Planning and CBF-QP Self-Collision Filtering for a Long-Reach Drilling Boom
Mehdi Heydari Shahna, Tuomo Kivelä, Jouni Mattila
Long-reach drilling booms must reach successive poses without self-collision. Moving from operator-supervised control toward autonomy requires collision-aware motion planning and e…
Adaptive Modular Geometric Control of Robotic Manipulators
Mahdi Hejrati, Amir Hossein Barjini, Gokhan Alcan +1
This paper develops an adaptive modular geometric control framework for robotic manipulators with uncertain inertial parameters. The manipulator is decomposed into rigid-body and j…
Actuator-Aware Inverse Kinematics with Joint-Limit Admissibility for Torque-Controlled Redundant Robots
Mohammad Dastranj, Mahdi Hejrati, Jouni Mattila
This paper proposes actuator-aware inverse kinematics for torque-controlled redundant robots under joint-limit constraints. In the considered architecture, the inverse-kinematic ou…
Modular Lie Algebraic PDE Control of Multibody Flexible Manipulators
Sadeq Yaqubi, Jouni Mattila
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each li…
Inertia Partitioning Modular Robust Control Framework for Reconfigurable Multibody Systems
Mohammad Dastranj, Jouni Mattila
A novel modular modeling and control framework based on Lagrangian mechanics is proposed for multibody systems, motivated by the challenges of modular control of systems with close…
Progress-Certified Reversible Simplex Supervision of Goal-Reaching Reinforcement Learning
Mehdi Heydari Shahna, Seyed Adel Alizadeh Kolagar, Jouni Mattila
Task completion is difficult to certify when state aggregation, model mismatch, and disturbances invalidate nominal RL transitions. We present a reversible Simplex framework combin…