On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy
Conference object, Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/2488756
Date
2017
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Original version
2017 13th IEEE Conference on Automation Science and Engineering (CASE)  
Abstract
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.
Publisher
IEEE
Journal
IEEE International Conference on Automation Science and Engineering