Computationally Efficient Predictive Robot Control

@article{Duchaine2007ComputationallyEP,
  title={Computationally Efficient Predictive Robot Control},
  author={Vincent Duchaine and S{\'e}bastien Bouchard and Charles Gosselin},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2007},
  volume={12},
  pages={570-578}
}
Conventional linear controllers (PID) are not really suitable for the control of robot manipulators due to the highly nonlinear behavior of the latter. Over the last decades, several control methods have been proposed to circumvent this limitation. This paper presents an approach to the control of manipulators using a computationally-efficient-model-based predictive control scheme. First, a general predictive control law is derived for position tracking and velocity control, taking into account… CONTINUE READING
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