Name
Abstract | ||
|---|---|---|
In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints that are not considered during path generation. We compare two task space oriented controllers: the model predictive path following controller and the model predictive trajectory tracking controller. We describe a 6 degrees of freedom reference path in terms of three points, and use this to experimentally verify the results with a UR5 robot and a UR3 robot. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/CCTA.2017.8062503 | 2017 IEEE Conference on Control Technology and Applications (CCTA) |
Keywords | DocType | ISBN |
robotic manipulators,mid-level controller,path generator,low-level joint controller,robot system,model predictive path following controller,model predictive trajectory tracking controller,freedom reference path,UR5 robot,UR3 robot,mid-level MPC,6 DOF output path following,task space oriented controllers | Conference | 978-1-5090-2183-3 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
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 |