dc.contributor.author | Arbo, Mathias Hauan | |
dc.contributor.author | Grøtli, Esten Ingar | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2017-12-05T10:15:32Z | |
dc.date.available | 2017-12-05T10:15:32Z | |
dc.date.created | 2017-12-01T20:05:07Z | |
dc.date.issued | 2017 | |
dc.identifier.citation | IEEE Conference on Control Technology and Applications. 2017, pp 7 | nb_NO |
dc.identifier.issn | 1066-033X | |
dc.identifier.uri | http://hdl.handle.net/11250/2469227 | |
dc.description.abstract | 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 that are not considered during path generation. We compare two task space oriented controllers: the model predictive path following controller and the model predictive trajectory tracking controller. We describe a 6 degrees of freedom reference path in terms of three points, and use this to experimentally verify the results with a UR5 robot and a UR3 robot. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.title | Mid-Level MPC and 6 DOF Output Path Following for Robotic Manipulators | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.pagenumber | 7 | nb_NO |
dc.source.journal | IEEE Conference on Control Technology and Applications | nb_NO |
dc.identifier.doi | 10.1109/CCTA.2017.8062503 | |
dc.identifier.cristin | 1521798 | |
dc.relation.project | Norges forskningsråd: 237900 | nb_NO |
cristin.unitcode | 7401,90,23,0 | |
cristin.unitname | Anvendt kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |