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Nonlinear model predictive control of a robot manipulator

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2 Author(s)
Poignet, Ph. ; Lab. de Vision et Robotique, IUT de Bourges, Bourges, France ; Gautier, M.

An efficient approach for nonlinear model predictive control is proposed. Basically, the model is first linearized by feedback, secondly a model predictive control scheme, implemented with an optimized dynamic model and running within a small sampling period, is exhibited. Major simulation results performed using numerical values of an industrial SCARA type robot prove the effectiveness of the proposed approach. The nonlinear model-based predictive control and the commonly used computed torque control are compared. The tracking performances and the robustness with respect to external disturbances or model/robot mismatch are described.

Published in:

Advanced Motion Control, 2000. Proceedings. 6th International Workshop on

Date of Conference:

1-1 April 2000