Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System
K. Belda1, O. Rovný2
1 Czech Academy of Sciences
2 Slovak University of Technology in Bratislava
Abstract
The paper deals with a design of model predictive control (MPC) as an example of the advanced local motion control of articulated robot arms in the scope of manipulation operations within the intradepartmental transportation among workplaces. Initially, the use of articulated robotic arms as a part of mobile robotic systems is discussed. Then, the convenient composition of mathematical models of kinematics and dynamics of the aforementioned robot arms is introduced. Thereafter, MPC design is explained. The proposed theoretical methods of the mathematical modeling and control design are demonstrated by the simulation of the 5 degrees of freedom robot arm composed of drive, joint and arm modules of the Schunk Co.
Full paper
Session
Model Predictive Control (Lecture)
Reference
Belda, K.; Rovný, O.: Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 2017 21st International Conference on Process Control (PC), Štrbské Pleso, Slovakia, June 6 – 9, 339–344, 2017.
BibTeX
| @inProceedings{pc2017-023, | ||
| author | = { | Belda, K. and Rovn\'y, O.}, |
| title | = { | Predictive Control of 5 DOF Robot Arm of Autonomous Mobile Robotic System}, |
| booktitle | = { | Proceedings of the 2017 21st International Conference on Process Control (PC)}, |
| year | = { | 2017}, |
| pages | = { | 339-344}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | \v{S}trbsk\'e Pleso, Slovakia}} |