2000 character limit reached
Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot (1506.09084v2)
Published 30 Jun 2015 in cs.SY and math.OC
Abstract: Many robotic applications, such as milling, gluing, or high precision measurements, require the exact following of a pre-defined geometric path. In this paper, 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. We present results from an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.