On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

被引：0
|
作者：
Arbo, Mathias Hauan [1 ]
Grotli, Esten Ingar [2 ]
Gravdahl, Jan Tommy [1 ]
机构：
[1] Norwegian Univ Sci & Technol, NTNU, Dept Engn Cybernet, Trondheim, Norway
[2] SINTEF DIGITAL, Math & Cybernet, Trondheim, Norway
来源：
2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE) | 2017年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this article the model predictive path following controller and the model predictive trajectory tracking controller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based discretization. We show how path-following can stop at obstructions in a way trajectory tracking cannot. We give simulations for a two-link manipulator, and discuss the real-time viability of our implementations.
引用
收藏
页码：100 / 105
页数：6
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