On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
Journal article, Peer reviewed
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Original version2017 13th IEEE Conference on Automation Science and Engineering (CASE)
In this article the model predictive path following controller and the model predictive trajectory tracking con-troller 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.