3.8 Proceedings Paper

Real-Time Path-Constrained Trajectory Tracking for Robot Manipulators with Energy Budget Optimization

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IEEE
DOI: 10.1109/coase.2019.8842946

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  1. CNPq
  2. Coordenacao de Aperfeicoamento de Pessoal de Nivel Superior - Brasil (CAPES) [88887.136349/2017-00, 001]

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This paper considers the path-constrained trajectory tracking for robot manipulators optimizing a limited energy budget. The proposed strategy is based on a Nonlinear Receding Horizon Predictive Control (NRHPC) using a path parameterization of dimension one. The dynamic of the parameterized trajectory is governed by a predefined linear system, then an energy and a cost functions are defined and a NRHPC based on a Newton method is used to minimize the cost function in real time. The method is presented in both joint and task space. The proposed solution is verified on a 4 DOF manipulator with successful simulation and experimental results.

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