Faulwasser, TimmTimmFaulwasserWeber, TobiasTobiasWeberZometa, PabloPabloZometaFindeisen, RolfRolfFindeisen2024-03-052024-03-052017-07-01IEEE Transactions on Control Systems Technology 25 (4): 1505-1511 (2017)https://hdl.handle.net/11420/46231Many 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.en1558-0865IEEE Transactions on Control Systems Technology2017415051511IEEEConstraintsKUKA LWR IVnonlinear model predictive control (NMPC)optimal controlpath followingComputer SciencesMathematicsImplementation of nonlinear model predictive path-following control for an industrial robotJournal Article10.1109/TCST.2016.2601624Other