Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. Finally, we present the results of an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.


Published in:
IEEE Transactions on Control Systems Technology
Year:
2016
Publisher:
Piscataway, Institute of Electrical and Electronics Engineers
ISSN:
1063-6536
Keywords:
Laboratories:




 Record created 2015-07-01, last modified 2018-01-28


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