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On model predictive path following and trajectory tracking for industrial robots

Sammendrag

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.

Kategori

Vitenskapelig artikkel

Oppdragsgiver

  • Research Council of Norway (RCN) / 237900

Språk

Engelsk

Forfatter(e)

Institusjon(er)

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

År

2017

Publisert i

IEEE International Conference on Automation Science and Engineering

ISSN

2161-8070

Forlag

IEEE conference proceedings

Årgang

2017-August

Side(r)

100 - 105

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