Blar i Publikasjoner fra CRIStin - SINTEF AS på tidsskrift "IEEE Conference on Control Technology and Applications"
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Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators
(Journal article; Peer reviewed, 2017)In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints ...