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Title: Path-Following NMPC for Serial-Link Robot Manipulators Using a Path-Parametric System Reformulation
Authors: van Duijkeren, Niels ×
Verschueren, Robin
Pipeleers, Goele
Diehl, Moritz
Swevers, Jan #
Issue Date: Jun-2016
Host Document: Proceedings of the 2016 European Control Conference pages:477-482
Conference: European Control Conference edition:2016 date:29 June - 1 July 2016
Abstract: This paper discusses path-following control for robotics, moving a manipulator along a path in Cartesian space, making a trade-off between tracking accuracy and the speed at which the path is followed. We present and validate a nonlinear model predictive control (NMPC) approach suitable for this nonlinear control task. This approach entails a method to model the position of the robot end-effector with respect to the path and, in addition, a reformulation of the robot prediction model in terms of an independent path parameter instead of time. This way, we obtain a convenient parameterization of path properties in the optimal control formulation and many geometric constraints, such as tracking tolerance, transform into simple linear or vector-norm constraints. Numerical simulations illustrate the benefits of this novel NMPC approach in an implementation that employs a direct multiple shooting discretization strategy and the real-time iteration scheme for fast computation of the control law. We show results of closed-loop simulations for a 6-DOF industrial robot executing a writing task, with computation times close to enabling real-time implementation.
Publication status: published
KU Leuven publication type: IC
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
× corresponding author
# (joint) last author

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