16 citations · 116 across the 50 of their papers we have counts for
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Orchestrated Robust Controller for Precision Control of Heavy-duty Hydraulic Manipulators
Mahdi Hejrati, Jouni Mattila
Vast industrial investment along with increased academic research on heavy-duty hydraulic manipulators has unavoidably paved the way for their automatization, necessitating the des…
Hybrid Controller for Robot Manipulators in Task-Space with Visual-Inertial Feedback
Seyed Hamed Hashemi, Jouni Mattila
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is em…
Exponential Auto-Tuning Fault-Tolerant Control of N Degrees-of-Freedom Manipulators Subject to Torque Constraints
Mehdi Heydari Shahna, Jouni Mattila
This paper presents a novel auto-tuning subsystem-based fault-tolerant control (SBFC) system designed for robotic manipulator systems with n degrees of freedom (DoF). It initially…
Robustness-Guaranteed Observer-Based Control Strategy with Modularity for Cleantech EMLA-Driven Heavy-Duty Robotic Manipulator
Mehdi Heydari Shahna, Mohammad Bahari, Jouni Mattila
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (…
Nonlinear Subsystem-based Adaptive Impedance Control of Physical Human-Robot-Environment Interaction in Contact-rich Tasks
Mahdi Hejrati, Jouni Mattila
Haptic upper limb exoskeletons are robots that assist human operators during task execution while having the ability to render virtual or remote environments. Therefore, the stabil…
Task Space Control of Robot Manipulators based on Visual SLAM
Seyed Hamed Hashemi, Jouni Mattila
This paper aims to address the open problem of designing a globally stable vision-based controller for robot manipulators. Accordingly, based on a hybrid mechanism, this paper prop…