Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot
Systems and Control
2017-07-18 v2 Optimization and Control
Abstract
Many robotic applications, such as milling, gluing, or high precision measurements, require the exact following of a pre-defined geometric path. In this paper, 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. We present results from an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.
Keywords
Cite
@article{arxiv.1506.09084,
title = {Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot},
author = {Timm Faulwasser and Tobias Weber and Juan Pablo Zometa and Rolf Findeisen},
journal= {arXiv preprint arXiv:1506.09084},
year = {2017}
}
Comments
8 pages, 3 figures; final revised version