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Esten Ingar Grøtli

Research Scientist

Esten Ingar Grøtli

Research Scientist

Esten Ingar Grøtli
Phone: +47 920 99 036
Department: Mathematics and Cybernetics
Office: Trondheim

Publications and responsibilities

Publications

Publication

Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+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 oriente...

Authors Arbo Mathias Hauan Grøtli Esten Ingar Gravdahl Jan Tommy
Year 2017
Type Journal publication
Publication

Canvas as a Design Tool for Autonomous Operations: : With application to net inspection of a sea based fish farm using an underwater vehicle

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1521632

Several design methods and principles have been proposed in the literature in order to guide the design of autonomous operations. Putting the required efforts into learning and using the methods is a daunting task, and experiences have shown that the use of methods meant to the help the design proce...

Year 2017
Type Journal publication
Publication

Canvas as a Design Tool for Autonomous Operations: : With application to net inspection of a sea based fish farm using an underwater vehicle

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+1521631

Several design methods and principles have been proposed in the literature in order to guide the design of autonomous operations. Putting the required efforts into learning and using the methods is a daunting task, and experiences have shown that the use of methods meant to the help the design proce...

Year 2017
Type Conference lecture and academic presentation
Publication

On the Globally Exponentially Convergent Immersion and Invariance Speed Observer for Mechanical Systems

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+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 ref...

Authors Arbo Mathias Hauan Grøtli Esten Ingar Gravdahl Jan Tommy
Year 2017
Type Conference lecture and academic presentation
Publication

On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+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 trajecto...

Authors Arbo Mathias Hauan Grøtli Esten Ingar Gravdahl Jan Tommy
Year 2017
Type Journal publication
Publication

On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+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 trajecto...

Authors Arbo Mathias Hauan Grøtli Esten Ingar Gravdahl Jan Tommy
Year 2017
Type Conference lecture and academic presentation
Publication

Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+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 oriente...

Authors Arbo Mathias Hauan Grøtli Esten Ingar Gravdahl Jan Tommy
Year 2017
Type Conference lecture and academic presentation
Publication

On the globally exponentially convergent immersion and invariance speed observer for mechanical systems

https://www.sintef.no/en/publications/publication/?pubid=CRIStin+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 ref...

Authors Arbo Mathias Hauan Grøtli Esten Ingar Gravdahl Jan Tommy
Year 2017
Type Journal publication
View all publications at Cristin