dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Grøtli, Esten Ingar | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2017-12-04T07:24:18Z | |
dc.date.available | 2017-12-04T07:24:18Z | |
dc.date.created | 2017-12-01T13:27:54Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | IEEE International Conference on Automation Science and Engineering, 2017, pp 6 | nb_NO |
dc.identifier.issn | 2161-8070 | |
dc.identifier.uri | http://hdl.handle.net/11250/2468855 | |
dc.description.abstract | In 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.title | On Model Predictive Path Following and Trajectory Tracking for Industrial Robots | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.journal | IEEE International Conference on Automation Science and Engineering | nb_NO |
dc.identifier.cristin | 1521599 | |
dc.relation.project | Norges forskningsråd: 237900 | nb_NO |
cristin.unitcode | 7401,90,23,0 | |
cristin.unitname | Anvendt kybernetikk | |
cristin.ispublished | false | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |