Implementation of a model predictive control algorithm for a 6dof manipulator : simulation results

Waldemar Wróblewski

doi:10.1109/ROMOCO.2004.240647

Scientific Information System of the Poznań University of Technology

PL EN

Main page / Publications / Implementation of a model predictive control algorithm for a 6dof manipulator : simulation results

Submit a comment

Chapter

Download BibTeX

Title

Implementation of a model predictive control algorithm for a 6dof manipulator : simulation results

Authors

Waldemar Wróblewski ^{[ 1 ][ P ]}

^{[ 1 ]} Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2004

Chapter type

paper

Publication language

english

Abstract

EN The paper presents a software implementation of the nonlinear model predictive control (NMPC) algorithm of Wen and Jung (2002, 2003) to a 6-degree-of-freedom robot manipulator. The implemented algorithm attempts to reduce the error at the end of the prediction horizon rather than to find the optimal solution. This leads to reduction of computational burden. Simulations have been carried out for the mathematical model of the 6DOF robot manipulator (Puma 560) and some exemplifying results are presented.

Pages (from - to)

209 - 212

DOI

10.1109/ROMOCO.2004.240647

URL

https://ieeexplore.ieee.org/document/1359511

Book

Proceedings of the Fourth International Workshop on Robot Motion and Control, RoMoCo 2004, Puszczykowo, Poland, June 17-20, 2004

Presented on

4th International Workshop on Robot Motion and Control, RoMoCo'04, 17-20.06.2004, Puszczykowo, Poland

System created by Poznań University of Technology and Poznan Supercomputing and Networking Center

Log in through eKonto to add to SIS