On Model Predictive Path Following and Trajectory Tracking for\n Industrial Robots

2017/03/07 by Mathias Hauan Arbo, Arbo, Mathias Hauan, Esten Ingar Grøtli +3
Computer Science · Engineering · #Advanced Control Systems Optimization #FOS: Computer and information sciences #Robotic Mechanisms and Dynamics #Robotic Path Planning Algorithms #Robotics (cs.RO)

paper · pdf · doi:10.48550/arxiv.1703.02279

openalex publication_date 2017/03/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

In this article we show how the model predictive path following controller\nallows robotic manipulators to stop at obstructions in a way that model\npredictive trajectory tracking controllers cannot. We present both controllers\nas applied to robotic manipulators, simulations for a two-link manipulator\nusing an interior point solver, consider discretization of the optimal control\nproblem using collocation or Runge-Kutta, and discuss the real-time viability\nof our implementation of the model predictive path following controller.\n

Citations

• Nonlinear Model Predictive Control for Constrained Output Path Following
• Time-Optimal Path Tracking for Robots: A Convex Optimization Approach
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming

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