Predictive control for offset-free motion of industrial articulated robots
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Date
2017
Authors
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers Inc.
Abstract
—This paper deals with the design of model predictive control for the precise motion of industrial articulated
robots. The solution is based on specific incremental formulations
of equations of predictions. The proposed formulations enable
the design to compensate and suppress undesirable positional
offsets. The corresponding incremental predictive algorithms
incorporating discrete integrators are introduced. The theoretical
results are demonstrated by the set of simulation examples
with the six-axis multipurpose ABB robot IRB 140 that belongs
to the large class of industrial articulated robots.
Description
Subject(s)
Articulated robots, ncremental formulation, Model predictive control, Simulation example
Citation
ISSN
ISBN
978-153862402-9