In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking controllers cannot. We present both controllers as applied to robotic manipulators, simulations for a two-link manipulator using an interior point solver, consider discretization of the optimal control problem using collocation or Runge-Kutta, and discuss the real-time viability of our implementation of the model predictive path following controller.
@article{arxiv.1703.02279,
title = {On Model Predictive Path Following and Trajectory Tracking for Industrial Robots},
author = {Mathias Hauan Arbo and Esten Ingar Grøtli and Jan Tommy Gravdahl},
journal= {arXiv preprint arXiv:1703.02279},
year = {2017}
}