• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

Arbo, Mathias Hauan; Grøtli, Esten Ingar; Gravdahl, Jan Tommy
Journal article, Peer reviewed
Accepted version
Thumbnail
View/Open
arbocase2017+%28004%29.pdf (498.0Kb)
URI
http://hdl.handle.net/11250/2488756
Date
2017
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [4085]
  • Publikasjoner fra CRIStin - NTNU [41869]
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

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit