3 citations · 4 across the 2 of their papers we have counts for
3 papers
CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics
Mathias Hauan Arbo, Esten Ingar Grøtli, Jan Tommy Gravdahl
A Python module for rapid prototyping of constraint-based closed-loop inverse kinematics controllers is presented. The module allows for combining multiple tasks that are resolved…
Merits of the Incremental Method for modeling Piecewise Linear functions
Mutaz Tuffaha, Jan Tommy Gravdahl
Several techniques were proposed to model the Piecewise linear (PWL) functions, including convex combination, incremental and multiple choice methods. Although the incremental meth…
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
Mathias Hauan Arbo, Esten Ingar Grøtli, Jan Tommy Gravdahl
In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking co…