Real-Time Model Predictive Control for Contactless Surface Following in Industrial Robotics
Real-Time Model Predictive Control for Contactless Surface Following in Industrial Robotics
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Balin Balinov Cristiano Sartini, Simone Redaelli , Davide Risolo
Abstract
Abstract
The problem formulation was based on Johan Ubbink´s Contactless Surface Following with Acceleration Limits: Enhancing Robot Manipulator Performance through Model Predictive Control.
The simulation loop uses our own kinematic model and MPC formulation
Model
Model
Formal Problem Definition
Formal Problem Definition
Real-time Feasibility
Real-time Feasibility
Accuracy Study
Accuracy Study
Problem formulation
Problem formulation
Software Stack
Software Stack
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