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dc.contributor.authorArbo, Mathias Hauan
dc.contributor.authorGrøtli, Esten Ingar
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2018-03-05T15:29:28Z
dc.date.available2018-03-05T15:29:28Z
dc.date.created2017-12-01T13:27:54Z
dc.date.issued2017
dc.identifier.citation2017 13th IEEE Conference on Automation Science and Engineering (CASE)nb_NO
dc.identifier.issn2161-8070
dc.identifier.urihttp://hdl.handle.net/11250/2488756
dc.description.abstractIn 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleOn Model Predictive Path Following and Trajectory Tracking for Industrial Robotsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.journalIEEE International Conference on Automation Science and Engineeringnb_NO
dc.identifier.cristin1521599
dc.relation.projectNorges forskningsråd: 237900nb_NO
dc.description.localcode© 2017 IEEE. This is the authors' accepted manuscript. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedfalse
cristin.fulltextpostprint
cristin.qualitycode1


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