On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

Autor:	Arbo, Mathias Hauan, Grøtli, Esten Ingar, Gravdahl, Jan Tommy
Rok vydání:	2017
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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 2017
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1703.02279 Zobrazit plný text záznamu View this record from Arxiv