7 papers
Full-Dynamics Real-Time Nonlinear Model Predictive Control of Heavy-Duty Hydraulic Manipulator for Trajectory Tracking Tasks
Alvaro Paz, Mahdi Hejrati, Pauli Mustalahti +1
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring…
Real-Time Nonlinear Model Predictive Control of Heavy-Duty Skid-Steered Mobile Platform for Trajectory Tracking Tasks
Alvaro Paz, Pauli Mustalahti, Mohammad Dastranj +1
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time perform…
Mechanic Modeling and Nonlinear Optimal Control of Actively Articulated Suspension of Mobile Heavy-Duty Manipulators
Alvaro Paz, Jouni Mattila
This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabiliz…
Energy-Cautious Designation of Kinematic Parameters for a Sustainable Parallel-Serial Heavy-Duty Manipulator Driven by Electromechanical Linear Actuator
Alvaro Paz, Mohammad Bahari, Jouni Mattila
Electrification, a key strategy in combating climate change, is transforming industries, and off-highway machines (OHM) will be next to transition from combustion engines and hydra…
System-Level Performance Metrics Sensitivity of an Electrified Heavy-Duty Mobile Manipulator
Mohammad Bahari, Alvaro Paz, Jouni Mattila
The shift to electric and hybrid powertrains in vehicular systems has propelled advancements in mobile robotics and autonomous vehicles. This paper examines the sensitivity of key…
System-Level Efficient Performance of EMLA-Driven Heavy-Duty Manipulators via Bilevel Optimization Framework with a Leader--Follower Scenario
Mohammad Bahari, Alvaro Paz, Mehdi Heydari Shahna +1
The global push for sustainability and energy efficiency is driving significant advancements across various industries, including the development of electrified solutions for heavy…
Analytical Forward Dynamics Modeling of Linearly Actuated Heavy-Duty Parallel-Serial Manipulators
Paz Alvaro, Jouni Mattila
This paper presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on express…