Add to ORKGIn this article the model predictive path following controller and the model predictive trajectory tracking con-troller are compared for a robotic manipulator. We consider both the Runge-Kutta and collocation based discretization. We show how path-following can stop at obstructions in a way trajectory tracking cannot. We give simulations for a two-link manipulator, and discuss the real-time viability of our implementations.acceptedVersio
In our paper of robust version predictive tracking control for robotic manipulators considering dist...
The problem of planning a trajectory for robots starting in an initial state and reaching a final st...
This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinemati...
In this article the model predictive path following controller and the model predictive trajectory t...
This paper discusses path-following control for robotics, moving a manipulator along a path in Carte...
In this paper, we focus on a combination of path following and trajectory tracking for a mobile robo...
In the frame of this work, the problem of following parametrized reference paths via nonlinear model...
This paper deals with time optimal path tracking along prescribed geometric paths for robotic system...
The prototypical problem in control theory is the stabilization of a set point. When, instead of a s...
In this article we discuss some of the benefits of using an MPC as a mid-level controller between th...
Classical time-optimal path tracking algorithms make use of an a priori known model description to c...
The problem of planning a trajectory for robots starting in an initial state and reaching a final st...
An algorithm for high-performance path tracking for robot manipulators in the presence of model unce...
For robotic systems tracking a given geometric path, the paper addresses the problem of satisfying i...
Despite the development of numerous trajectory planners based on computationally fast algorithms tar...
In our paper of robust version predictive tracking control for robotic manipulators considering dist...
The problem of planning a trajectory for robots starting in an initial state and reaching a final st...
This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinemati...
In this article the model predictive path following controller and the model predictive trajectory t...
This paper discusses path-following control for robotics, moving a manipulator along a path in Carte...
In this paper, we focus on a combination of path following and trajectory tracking for a mobile robo...
In the frame of this work, the problem of following parametrized reference paths via nonlinear model...
This paper deals with time optimal path tracking along prescribed geometric paths for robotic system...
The prototypical problem in control theory is the stabilization of a set point. When, instead of a s...
In this article we discuss some of the benefits of using an MPC as a mid-level controller between th...
Classical time-optimal path tracking algorithms make use of an a priori known model description to c...
The problem of planning a trajectory for robots starting in an initial state and reaching a final st...
An algorithm for high-performance path tracking for robot manipulators in the presence of model unce...
For robotic systems tracking a given geometric path, the paper addresses the problem of satisfying i...
Despite the development of numerous trajectory planners based on computationally fast algorithms tar...
In our paper of robust version predictive tracking control for robotic manipulators considering dist...
The problem of planning a trajectory for robots starting in an initial state and reaching a final st...
This paper explores the trajectory tracking strategy of a six-axis manipulator based on the kinemati...