3 research outputs found
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
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 controllers cannot. We present both controllers
as applied to robotic manipulators, simulations for a two-link manipulator
using an interior point solver, consider discretization of the optimal control
problem using collocation or Runge-Kutta, and discuss the real-time viability
of our implementation of the model predictive path following controller.Comment: Draft of article for CASE 201