Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

被引：111
|
作者：
Faulwasser, Timm [1 ,2 ]
Weber, Tobias [3 ]
Zometa, Pablo [4 ]
Findeisen, Rolf [4 ]
机构：
[1] Karlsruhe Inst Technol, Inst Appl Comp Sci, D-76021 Karlsruhe, Germany
[2] Ecole Polytech Fed Lausanne, Lab Automat, CH-1015 Lausanne, Switzerland
[3] Otto von Guericke Univ, Inst Math Optimizat, D-39106 Magdeburg, Germany
[4] Otto von Guericke Univ, Inst Automat Engn, D-39106 Magdeburg, Germany
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2017年 / 25卷 / 04期
关键词：
Constraints; KUKA LWR IV; nonlinear model predictive control (NMPC); optimal control; path following; FEEDBACK LINEARIZATION;
D O I：
10.1109/TCST.2016.2601624
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. Finally, we present the results of an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.
引用
收藏
页码：1505 / 1511
页数：7
相关论文
共 50 条
  • [1] Predictive Path-following Control: Concept and Implementation for an Industrial Robot
    Faulwasser, Timm
    Matschek, Janine
    Zometa, Pablo
    Findeisen, Rolf
    [J]. 2013 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA), 2013, : 128 - 133
  • [2] Nonlinear Model Predictive Path-Following Control
    Faulwasser, Timm
    Findeisen, Rolf
    [J]. NONLINEAR MODEL PREDICTIVE CONTROL: TOWARDS NEW CHALLENGING APPLICATIONS, 2009, 384 : 335 - 343
  • [3] Model Predictive Path-Following for Bike Robot
    Kim, Yongjae
    Yamakita, Masaki
    [J]. 2013 PROCEEDINGS OF SICE ANNUAL CONFERENCE (SICE), 2013, : 1592 - 1597
  • [4] Path-Following Based on Nonlinear Model Predictive Control with Adaptive Path Preview
    Li, Jun-Ting
    Chen, Chih-Keng
    [J]. Tongji Daxue Xuebao/Journal of Tongji University, 2024, 52 : 158 - 164
  • [5] Nonlinear Model Predictive Path-Following Control for Highly Automated Driving
    Ritschel, Robert
    Schroedel, Frank
    Haedrich, Juliane
    Jaekel, Jens
    [J]. IFAC PAPERSONLINE, 2019, 52 (08): : 350 - 355
  • [6] Path-Following Model Predictive Control of Ballbots
    Jespersen, Thomas K.
    al Ahdab, Mohammad
    Mendez, Juan de Dios F.
    Damgaard, Malte R.
    Hansen, Karl D.
    Pedersen, Rasmus
    Bak, Thomas
    [J]. 2020 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2020, : 1498 - 1504
  • [7] Nonlinear Model Predictive Path-Following for Mecanum-Wheeled Omnidirectional Mobile Robot
    Umar A.A.
    Kim J.-S.
    [J]. Transactions of the Korean Institute of Electrical Engineers, 2021, 70 (12): : 1946 - 1952
  • [8] Model Predictive Path-Following for Constrained Nonlinear Systems
    Faulwasser, T.
    Kern, B.
    Findeisen, R.
    [J]. PROCEEDINGS OF THE 48TH IEEE CONFERENCE ON DECISION AND CONTROL, 2009 HELD JOINTLY WITH THE 2009 28TH CHINESE CONTROL CONFERENCE (CDC/CCC 2009), 2009, : 8642 - 8647
  • [9] Analysis of explicit model predictive control for path-following control
    Lee, Junho
    Chang, Hyuk-Jun
    [J]. PLOS ONE, 2018, 13 (03):
  • [10] Path-Following Guidance Using Model Predictive Path Integral Control
    Jeong, Eui-Taek
    Lee, Chang-Hun
    [J]. PROCEEDINGS OF THE 2021 ASIA-PACIFIC INTERNATIONAL SYMPOSIUM ON AEROSPACE TECHNOLOGY (APISAT 2021), VOL 2, 2023, 913 : 313 - 326
12345