期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 25, 期 4, 页码 1505-1511出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2016.2601624
关键词
Constraints; KUKA LWR IV; nonlinear model predictive control (NMPC); optimal control; path following
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.
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