Predictive path-following control : concept and implementation for an industrial robot

Publikationstyp
Conference Paper
Date Issued
2013
Sprache
English
Author(s)
Faulwasser, Timm  
Matschek, Janine
Zometa, Pablo
Findeisen, Rolf  
TORE-URI
https://hdl.handle.net/11420/46078
Journal
Proceedings of the IEEE International Conference on Control Applications
Start Page
128
End Page
133
Article Number
6662755
Citation
IEEE International Conference on Control Applications (CCA), 2013 : 28 - 30 Aug. 2013, Hyderabad, India. - 128-133 (2013)
Contribution to Conference
IEEE International Conference on Control Applications, CCA 2013  
Publisher DOI
10.1109/CCA.2013.6662755
Scopus ID
2-s2.0-84902297582
Publisher
IEEE
ISBN
978-1-4799-1558-3
978-1-4799-1559-0
Many robotic applications, such as milling, glueing, or high precision measurements require the exact following of a pre-defined geometric path. We outline nonlinear model predictive control approaches to path-following problems. We show the real-time feasibility of predictive path following applied to an industrial robot. Specifically, we consider constrained output path following with and without pre-specified reference speeds. The proposed predictive path-following approach is experimentally validated considering a KUKA lightweight robot IV.
Subjects
constrained path following
nonlinear model predictive control
real-time implementation
robot control
DDC Class
004: Computer Sciences
621: Applied Physics