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research article
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.
Type
research article
Web of Science ID
WOS:000403496000034
Authors
Publication date
2017
Published in
Volume
25
Issue
4
Start page
1505
End page
1511
Peer reviewed
REVIEWED
EPFL units
Available on Infoscience
July 1, 2015
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