Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

Abstract

Many robotic applications, such as milling, gluing, or high precision measurements, require the exact following of a pre-defined geometric path. In this paper, we investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. We present results from an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.

8 pages, 3 figures; final revised version

References in corpus (1)

• Nonlinear Model Predictive Control for Constrained Output Path Following

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