Model predictive control for time-optimal point-to-point motion control

2011 ◽  
Vol 44 (1) ◽  
pp. 2458-2463 ◽  
Author(s):  
Lieboud Van den Broeck ◽  
Moritz Diehl ◽  
Jan Swevers
Keyword(s):  
Model Predictive Control ◽  
Motion Control ◽  
Predictive Control ◽  
Optimal Point ◽  
Point Motion ◽  
Time Optimal ◽  
Point To Point

scholarly journals Efficient Computation of Time-Optimal Point-to-Point Motion Trajectories

2015 ◽  
Vol 23 (2) ◽  
pp. 679-686 ◽  
Author(s):  
Pieter Janssens ◽  
Wannes Van Loock ◽  
Goele Pipeleers ◽  
Jan Swevers
Keyword(s):  
Efficient Computation ◽  
Optimal Point ◽  
Motion Trajectories ◽  
Point Motion ◽  
Time Optimal ◽  
Point To Point

Optimal Point-to-Point Motion Control of Robots With Redundant Degrees of Freedom

1986 ◽  
Vol 108 (2) ◽  
pp. 120-126 ◽  
Author(s):  
R. G. Fenton ◽  
B. Benhabib ◽  
A. A. Goldenberg
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
Generalized Inverse ◽  
Optimization Procedure ◽  
Merit Function ◽  
Robot Arm ◽  
Optimal Point ◽  
Motion Time ◽  
Point Motion ◽  
Point To Point

Control of a kinematically redundant robot arm requires an optimization procedure to determine the motion of the end effector. The criterion for optimization can be minimum motion time, minimum joint displacement increments or a combined merit function specified according to the requirements of the user. Three different methods may be used to perform the computations and obtain the joint coordinate increments for the point-to-point motion control of the robot. The methods are the “direct,” the “pseudoinverse” and the “generalized inverse” methods. These methods are described in detail in this paper, and results obtained with the three methods are compared on the basis of performing simulated tasks. It is concluded that the generalized inverse method is the most suitable, general method for point-to-point control of robots with more than six degrees-of-freedom.

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