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

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

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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.
Oppdragsgiver
  • Norges forskningsråd / 237900
Språk
Engelsk
Forfatter(e)
Institusjon(er)
  • Norges teknisk-naturvitenskapelige universitet
  • SINTEF Digital / Mathematics and Cybernetics
År
2017
Publisert i
IEEE Control Systems
ISSN
1066-033X
Side(r)
450 - 456