by Timm Faulwasser, Janine Matschek, Pablo Zometa, Rolf Findeisen
Abstract:
Many robotic applications, such as milling, glue- ing, or high precision measurements require the exact fol- lowing of a pre-defined geometric path. We outline nonlinear model predictive control approaches to path-following prob- lems. We show the real-time feasibility of predictive path following applied to an industrial robot. Specifically, we con- sider constrained output path following with and without pre-specified reference speeds. The proposed predictive path- following approach is experimentally validated considering a KUKA lightweight robot IV.
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Reference:
Predictive Path-following Control: Concept and Implementation for an Industrial Robot (Timm Faulwasser, Janine Matschek, Pablo Zometa, Rolf Findeisen), In Proc. of IEEE Multi-Conference on Systems and Control (MSC) 2013, 2013.
Bibtex Entry:
@inproceedings{faulwasser_predictive_2013,
	address = {Hyerdabat, India},
	title = {Predictive {Path}-following {Control}: {Concept} and {Implementation} for an {Industrial} {Robot}},
	isbn = {978-1-4799-1559-0},
	url = {http://infoscience.epfl.ch/record/184955/files/paper.pdf},
	doi = {10.1109/CCA.2013.6662755},
	abstract = {Many robotic applications, such as milling, glue- ing, or high precision measurements require the exact fol- lowing of a pre-defined geometric path. We outline nonlinear model predictive control approaches to path-following prob- lems. We show the real-time feasibility of predictive path following applied to an industrial robot. Specifically, we con- sider constrained output path following with and without pre-specified reference speeds. The proposed predictive path- following approach is experimentally validated considering a KUKA lightweight robot IV.},
	booktitle = {Proc. of {IEEE} {Multi}-{Conference} on {Systems} and {Control} ({MSC}) 2013},
	author = {Faulwasser, Timm and Matschek, Janine and Zometa, Pablo and Findeisen, Rolf},
	month = aug,
	year = {2013}
}