T. Faulwasser, Janine Matschek, P. Zometa, R. Findeisen
{"title":"Predictive path-following control: Concept and implementation for an industrial robot","authors":"T. Faulwasser, Janine Matschek, P. Zometa, R. Findeisen","doi":"10.1109/CCA.2013.6662755","DOIUrl":null,"url":null,"abstract":"Many 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.","PeriodicalId":379739,"journal":{"name":"2013 IEEE International Conference on Control Applications (CCA)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-11-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"22","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 IEEE International Conference on Control Applications (CCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.2013.6662755","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 22
Abstract
Many 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.