Predictive path-following control: Concept and implementation for an industrial robot

T. Faulwasser, Janine Matschek, P. Zometa, R. Findeisen
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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.
预测路径跟随控制:工业机器人的概念与实现
许多机器人应用,如铣削、粘合或高精度测量,都需要精确地遵循预定义的几何路径。我们概述了路径跟踪问题的非线性模型预测控制方法。我们展示了预测路径跟踪应用于工业机器人的实时性可行性。具体来说,我们考虑有或没有预先指定的参考速度的约束输出路径。采用KUKA轻型机器人IV进行了预测路径跟踪方法的实验验证。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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