Model Predictive Control Design of a 3-DOF Robot Arm Based on Recognition of Spatial Coordinates

2022/09/04 by Zhangxi Zhou, Yuyao Zhang, Zhou, Zhangxi +3
Engineering · #Advanced Control Systems Optimization #FOS: Computer and information sciences #FOS: Electrical engineering #Robotic Mechanisms and Dynamics #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2209.01706

openalex publication_date 2022/09/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper uses Model Predictive Control (MPC) to optimise the input torques of a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to the target position and grasp the object accurately. A monocular camera is firstly used to recognise the colour and depth of the object. Then, the inverse kinematics calculation and the spatial coordinates of the object through coordinate transformation are combined to get the required rotating angle of each servo. Finally, the dynamic model of the robotic arm structure is derived and the model predictive control is applied to simulate the optimal input torques of servos to minimize the cost function.

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