• A System Architecture for Constraint-Based Robotic Assembly with CAD Information 

      Arbo, Mathias Hauan; Pane, Yudha P.; Aertbeliën, Erwin; Decré, Wilm (Journal article, 2018)
      A system architecture is presented to generate sensor-controlled robot tasks from knowledge encoded in a CAD model. This architecture consists of an application layer where the user annotates assembly tasks in the CAD ...
    • Control and Development of a Wearable Semi-Active Tremor Suppression Device 

      Khan, Shahrukh (Master thesis, 2019)
      Skjelvinger er en av de bevegelsesforstyrrelsene med høyest prevalens. De er definert som ufrivillig, rytmisk skjelving av kroppsdeler, som for eksempel i hender. De mest typiske formene for skjelvinger er essensiell tremor ...
    • Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators 

      Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      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 ...
    • On Model Predictive Path Following and Trajectory Tracking for Industrial Robots 

      Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2017)
      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 ...
    • On Robotic Assembly and Optimization-Based Control of Industrial Manipulators 

      Arbo, Mathias Hauan (Doctoral theses at NTNU;2019:112, Doctoral thesis, 2019)
      Robotic manipulators are essential tools of industry. They are ubiquituous in modern factories, and they are starting to become more commonplace everywhere else. The trend in robotic manipulators is to move towards allowing ...
    • On the globally exponentially convergent immersion and invariance speed observer for mechanical systems 

      Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      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 ...
    • PhD working conditions at NTNU with a special focus on PhD candidates with kids 

      Busch, Alexander; Arbo, Mathias Hauan; Kasimba, Sam A.; Sripada, Kam (Research report, 2017)
      During 2016-2017, DION conducted an analysis of the PhD working conditions at NTNU, with special focus on PhDs with children. All NTNU PhD candidates were invited to respond to a survey regarding working conditions and ...
    • Robot Dynamics with URDF & CasADi 

      Johannessen, Lill Maria Gjerde (Master thesis, 2019)
      Effektiv og nøyaktig evaluering av dynamiske parametere er en nøkkelingrediens for kontroll, estimering, og simulering av roboter. De kan være tidkrevende å kalkulere for hånd, og forskere innenfor robotikk kan derfor ha ...
    • Robot Dynamics with URDF & CasADi 

      Johannessen, Lill Maria; Arbo, Mathias Hauan; Gravdahl, Jan Tommy (Chapter, 2019)
      Fast, accurate evaluation of the dynamics parameters is a key ingredient for accurate control, estimation, and simulation of robots. As these are time-consuming to compute by hand, a software library for generating the ...
    • Sensor Fusion with Out-of-Sequence Measurements - Localization in an Agricultural Robot Using Visual Odometry 

      Arbo, Mathias Hauan (Master thesis, 2015)
      Timing is an important aspect when working with visual odometry (VO). The time of processing and data-transfer of image-based measurements are significantly longer than IMU, wheel encoders, and GPS measurements. This ...
    • Setup and Interfacing of a KUKA Robotics Lab 

      Eriksen, Ivar (Master thesis, 2017)
      To evaluate the feasibility of controlling KUKA robots via KUKAVARPROXY, the performance of two libraries for communicating with KUKAVARPROXY is inves- tigated. It is shown that the BoostCrossCom C++ library and the ...
    • Stability of the Tracking Problem with Task-Priority Inverse Kinematics 

      Arbo, Mathias Hauan; Gravdahl, Jan Tommy (Journal article, 2018)
      The multiple task-priority inverse kinematics framework using the Moore-Penrose pseudoinverse has been shown to be asymptotically stable for the regulation problem with certain conditions on the tasks. In this article we ...
    • Unscented Multi-Point Smoother for Fusion of Delayed Displacement Measurements: Application to Agricultural Robots 

      Arbo, Mathias Hauan; Utstumo, Trygve; Brekke, Edmund Førland; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      Visual Odometry (VO) is increasingly a useful tool for robotic navigation in a variety of applications, including weed removal for agricultural robotics. The methods of evaluating VO are often computationally expensive and ...
    • Vive for Robotics: Rapid Robot Cell Calibration 

      Astad, Morten Andre; Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy (Chapter, 2019)
      The use of an HTC Vive; a virtual reality (VR) system and its innovative tracking technology is explored in order to create an approximate one-to-one mapping to the virtual representation of a robot cell. The mapping is ...