基于快速嵌入式模型预测控制的情境感知机械臂

Shane Trimble, W. Naeem, S. McLoone, Pantelis Sopasakis
{"title":"基于快速嵌入式模型预测控制的情境感知机械臂","authors":"Shane Trimble, W. Naeem, S. McLoone, Pantelis Sopasakis","doi":"10.1109/ISSC49989.2020.9180217","DOIUrl":null,"url":null,"abstract":"The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.","PeriodicalId":351013,"journal":{"name":"2020 31st Irish Signals and Systems Conference (ISSC)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2020-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Context-aware robotic arm using fast embedded model predictive control\",\"authors\":\"Shane Trimble, W. Naeem, S. McLoone, Pantelis Sopasakis\",\"doi\":\"10.1109/ISSC49989.2020.9180217\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.\",\"PeriodicalId\":351013,\"journal\":{\"name\":\"2020 31st Irish Signals and Systems Conference (ISSC)\",\"volume\":\"34 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 31st Irish Signals and Systems Conference (ISSC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISSC49989.2020.9180217\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 31st Irish Signals and Systems Conference (ISSC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISSC49989.2020.9180217","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2

摘要

在非结构化环境中越来越多的协作机器人创造了高度非凸的非线性共享动力系统。在这种情况下,为了安全和速度,路径规划和避免碰撞是至关重要的。提出了一种用于三维四轴机械臂的非线性MPC求解方法。该系统是第一个考虑移动障碍物的系统。使用OpEn框架,优化由PANOC和ALM技术完成。实验证明在PC和嵌入式平台上的求解速度都非常快。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Context-aware robotic arm using fast embedded model predictive control
The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信