Faulwasser, TimmTimmFaulwasserMatschek, JanineJanineMatschekZometa, PabloPabloZometaFindeisen, RolfRolfFindeisen2024-02-282024-02-282013IEEE International Conference on Control Applications (CCA), 2013 : 28 - 30 Aug. 2013, Hyderabad, India. - 128-133 (2013)978-1-4799-1558-3978-1-4799-1559-0https://hdl.handle.net/11420/46078Many 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. © 2013 IEEE.en2013128133IEEEconstrained path followingnonlinear model predictive controlreal-time implementationrobot controlComputer SciencesElectrical Engineering, Electronic EngineeringConference Paper10.1109/CCA.2013.6662755Conference Paper