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Cartesian nonlinear model predictive control of redundant manipulators considering obstacles

: Zube, Angelika

Postprint urn:nbn:de:0011-n-3526298 (510 KByte PDF)
MD5 Fingerprint: 46e365c68c2b4b96b2182157b38801bd
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Erstellt am: 6.8.2015

Institute of Electrical and Electronics Engineers -IEEE-; IEEE Industrial Electronics Society -IES-:
ICIT 2015, IEEE International Conference on Industrial Technology. Vol.1 : 17-19 March 2015, Seville, Spain
Piscataway, NJ: IEEE, 2015
ISBN: 978-1-4799-7800-7
ISBN: 978-1-4799-7801-4
International Conference on Industrial Technology (ICIT) <2015, Sevilla>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

For redundant fixed or mobile manipulators in shared human-robot workspaces, control algorithms are necessary that allow the robot to perform a task defined in the Cartesian space and that simultaneously realize additionally desired robot behaviors like avoiding collisions with humans or other obstacles. In this contribution, a Nonlinear Model Predictive Control (NMPC) approach is proposed to move the end-effector of the robot to a desired pose (3D position and orientation), along a geometric reference path or along a reference trajectory while considering obstacles. Due to the underlying general robot model, the control algorithm is applicable to both fixed and mobile manipulators, which is shown by means of simulations of a 7 DoF fixed manipulator and of a 10 DoF mobile manipulator.