Title :
Predictive control based on robotic arm model
Author :
Zwonarz, Wojciech
Author_Institution :
AGH Univ. of Sci. & Technol., Cracov, Poland
Abstract :
A universal controller for different classes of robotic manipulators is considered. The designed controller is a predictive one with the Powell method as the quality indicator minimum optimizer. The attention is focused on two simulated robotic systems treated as benchmarks. They track rectilinear trajectories.
Keywords :
control system synthesis; manipulators; predictive control; trajectory control; Powell method; controller design; predictive control; quality indicator minimum optimizer; rectilinear trajectory tracking; robotic arm model; robotic manipulators; universal controller; Interpolation; Manipulators; Q-factor; Regulators; Splines (mathematics); Trajectory;
Conference_Titel :
Methods and Models in Automation and Robotics (MMAR), 2014 19th International Conference On
Conference_Location :
Miedzyzdroje
Print_ISBN :
978-1-4799-5082-9
DOI :
10.1109/MMAR.2014.6957412
