Showing cs.ROShow all
3 papers · 1 filter
cs.RO2026
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…
cs.RO2026
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…
cs.RO2025
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…