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

Sammendrag

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 oriented controllers: the model predictive path following controller and the model predictive trajectory tracking controller. We describe a 6 degrees of freedom reference path in terms of three points, and use this to experimentally verify the results with a UR5 robot and a UR3 robot.

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Vitenskapelig foredrag

Oppdragsgiver

  • Research Council of Norway (RCN) / 237900

Språk

Engelsk

Forfatter(e)

Institusjon(er)

  • Norges teknisk-naturvitenskapelige universitet
  • SINTEF Digital / Mathematics and Cybernetics

Presentert på

2017 IEEE Conference on Control Technology and Applications (CCTA)

Dato

27.08.2017 - 30.08.2017

År

2017

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