Name
Abstract | ||
|---|---|---|
In this article the model predictive path following controller and the model predictive trajectory tracking controller 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. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/COASE.2017.8256087 | 2017 13th IEEE Conference on Automation Science and Engineering (CASE) |
Keywords | DocType | Volume |
industrial robots,model predictive trajectory tracking controller,robotic manipulator,collocation based discretization,way trajectory tracking,model predictive path following | Conference | abs/1703.02279 |
ISSN | ISBN | Citations |
2161-8070 | 978-1-5090-6782-4 | 1 |
PageRank | References | Authors |
0.40 | 5 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mathias Hauan Arbo | 1 | 1 | 2.09 |
| Esten I. Grøtli | 2 | 118 | 12.96 |
| Jan Tommy Gravdahl | 3 | 327 | 43.60 |