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On model predictive path following and trajectory tracking for industrial robots

Abstract

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 trajectory tracking cannot. We give simulations for a two-link manipulator, and discuss the real-time viability of our implementations.
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Category

Academic article

Language

English

Author(s)

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • Norwegian University of Science and Technology

Year

2017

Published in

IEEE International Conference on Automation Science and Engineering

ISSN

2161-8070

Volume

2017-August

Page(s)

100 - 105

View this publication at Norwegian Research Information Repository