69 citations · 291 across the 34 of their papers we have counts for
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MSA - Technique for Stiffness Modeling of Manipulators with Complex and Hybrid Structures
Alexandr Klimchik, Anatol Pashkevich, Damien Chablat
The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results…
Robust explicit model predictive control for hybrid linear systems with parameter uncertainties
Oleg Balakhnov, Sergei Savin, Alexandr Klimchik
Explicit model-predictive control (MPC) is a widely used control design method that employs optimization tools to find control policies offline; commonly it is posed as a semi-defi…
Residual Dynamics Learning for Trajectory Tracking for Multi-rotor Aerial Vehicles
Geesara Kulathunga, Hany Hamed, Alexandr Klimchik
This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in th…
Motion Planning for Multirotor Aerial Vehicles in Plan-based Control Paradigm: a Review
Geesara Kulathunga, Alexandr Klimchik
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends…
Non-linear stiffness behavior of planar serial robotic manipulators
Wanda Zhao, Alexandr Klimchik, Anatol Pashkevich +1
The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two importan…
Optimization-based Trajectory Tracking Approach for Multi-rotor Aerial Vehicles in Unknown Environments
Geesara Kulathunga, Hany Hamed, Dmitry Devitt +1
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for…