Implementation of nonlinear model predictive path-following control for an industrial robot

Publikationstyp
Journal Article
Date Issued
2017-07-01
Sprache
English
Author(s)
Faulwasser, Timm  
Weber, Tobias  
Zometa, Pablo
Findeisen, Rolf  
TORE-URI
https://hdl.handle.net/11420/46231
Journal
IEEE Transactions on Control Systems Technology  
Volume
25
Issue
4
Start Page
1505
End Page
1511
Citation
IEEE Transactions on Control Systems Technology 25 (4): 1505-1511 (2017)
Publisher DOI
10.1109/TCST.2016.2601624
Scopus ID
2-s2.0-85027692880
Publisher
IEEE
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.
Subjects
Constraints
KUKA LWR IV
nonlinear model predictive control (NMPC)
optimal control
path following
DDC Class
004: Computer Sciences
510: Mathematics