5 papers
Modular Inverse Dynamics and Wrench Recovery for Closed-Chain Mechanisms Using Path Assembly
Mohammad Dastranj, Jouni Mattila
Rigid closed chains can admit indeterminate internal reactions even when their motion is fully specified. This paper develops a modular inverse-dynamics workflow that combines path…
Modular Kinematic Reduction of Closed-Chain Mechanisms Using Path Assembly and Defect Homotopy
Mohammad Dastranj, Jouni Mattila
Closed kinematic chains complicate modular modeling by coupling active and passive coordinates through nonlinear closure constraints. This paper presents a Path-Assembled Closure D…
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…
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…
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…