dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Grøtli, Esten Ingar | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2018-03-05T15:29:28Z | |
dc.date.available | 2018-03-05T15:29:28Z | |
dc.date.created | 2017-12-01T13:27:54Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | 2017 13th IEEE Conference on Automation Science and Engineering (CASE) | nb_NO |
dc.identifier.issn | 2161-8070 | |
dc.identifier.uri | http://hdl.handle.net/11250/2488756 | |
dc.description.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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | On Model Predictive Path Following and Trajectory Tracking for Industrial Robots | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.journal | IEEE International Conference on Automation Science and Engineering | nb_NO |
dc.identifier.cristin | 1521599 | |
dc.relation.project | Norges forskningsråd: 237900 | nb_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.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | false | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |