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Mathias Hauan Arbo

Research Scientist

Mathias Hauan Arbo

Research Scientist

Mathias Hauan Arbo
Phone: 453 91 285
Email:
Department: Production Technology
Office: Trondheim

Publications and responsibilities

Publication
https://www.sintef.no/en/publications/publication/1521599/

In this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based discretization. We show how path-following can stop at obstructions in a way...

Authors Mathias Hauan Arbo Esten Ingar Grøtli Jan Tommy Gravdahl
Year 2017
Type Academic article
Publication
https://www.sintef.no/en/publications/publication/1521798/

In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints that are not considered during path generation. We compare two task space...

Authors Mathias Hauan Arbo Esten Ingar Grøtli Jan Tommy Gravdahl
Year 2017
Type Academic article
Publication
https://www.sintef.no/en/publications/publication/1521614/

In this article we present a reformulation of the invariance and immersion speed observer of Astolfi et al. as applied to mechanical systems with bounded inertia matrices. This is done to explore the possibility of its practical implementation e.g. for 6 degrees-of-freedom industrial robots. The...

Authors Mathias Hauan Arbo Esten Ingar Grøtli Jan Tommy Gravdahl
Year 2017
Type Academic lecture
Publication
https://www.sintef.no/en/publications/publication/1521589/

In this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based discretization. We show how path-following can stop at obstructions in a way...

Authors Mathias Hauan Arbo Esten Ingar Grøtli Jan Tommy Gravdahl
Year 2017
Type Academic lecture
Publication
https://www.sintef.no/en/publications/publication/1521574/

In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints that are not considered during path generation. We compare two task space...

Authors Mathias Hauan Arbo Esten Ingar Grøtli Jan Tommy Gravdahl
Year 2017
Type Academic lecture
Publication
https://www.sintef.no/en/publications/publication/1517431/

In this article we present a reformulation of the invariance and immersion speed observer of Astolfi et al. as applied to mechanical systems with bounded inertia matrices. This is done to explore the possibility of its practical implementation e.g. for 6 degrees-of-freedom industrial robots. The...

Authors Mathias Hauan Arbo Esten Ingar Grøtli Jan Tommy Gravdahl
Year 2017
Type Academic article