Predictive path-following control: Concept and implementation for an industrial robot
Predictive path-following control: Concept and implementation for an industrial robot
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DOI：
10.1109/cca.2013.6662755
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
T. Faulwasser;Janine Matschek;P. Zometa;R. Findeisen
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文献类型：
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作者：
T. Faulwasser;Janine Matschek;P. Zometa;R. Findeisen
许多机器人的应用，如铣削，胶合，或高精度的测量需要精确的预定义的几何path.We轮廓的非线性模型预测控制方法的路径跟踪问题。我们展示了应用于工业机器人的预测路径跟踪的实时可行性。具体来说，我们考虑约束输出路径以下，没有预先指定的参考速度。建议的预测路径跟踪方法进行实验验证考虑KUKA轻型机器人IV。
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.