Title :
Implementation of a model predictive control algorithm for a 6DOF manipulator - simulation results
Author :
Wróblewski, Waldemar
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
The paper presents a software implementation of the nonlinear model predictive control (NMPC) algorithm of Wen and Jung (2002, 2003) to a 6-degree-of-freedom robot manipulator. The implemented algorithm attempts to reduce the error at the end of the prediction horizon rather than to find the optimal solution. This leads to reduction of computational burden. Simulations have been carried out for the mathematical model of the 6DOF robot manipulator (Puma 560) and some exemplifying results are presented.
Keywords :
control engineering computing; manipulators; mathematical analysis; nonlinear control systems; predictive control; 6DOF robot manipulator; Puma 560; mathematical model; nonlinear model predictive control software implementation; prediction horizon; Mathematical model; Modeling; Nonlinear control systems; Open loop systems; Optimal control; Prediction algorithms; Predictive control; Predictive models; Robots; Sampling methods;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240647
