Predictive End-Effector Control of Manipulators on Moving Platforms Under Disturbance

This article proposes a predictive end-effector control method for manipulators operating on mobile platforms subjected to unwanted base motion. Time series is used to forecast the base motion using historical state information. Then, a trajectory specified in the inertial frame is transformed to a...

Ausführliche Beschreibung

Gespeichert in:

Bibliographische Detailangaben
Veröffentlicht in:	IEEE transactions on robotics 2021-12, Vol.37 (6), p.2210-2217
Hauptverfasser:	Woolfrey, Jon, Lu, Wenjie, Liu, Dikai
Format:	Artikel
Sprache:	eng
Schlagworte:	Constraints Control methods End effectors Error reduction Feasibility Feedback control Forecasting Linear functions Manipulators Mobile robots Optimization Platforms Predictive control Quadratic programming quadratic programming (QP) Robot arms Robot motion robot motion control Tracking errors
Online-Zugang:	Volltext bestellen
Tags:	Tag hinzufügen Keine Tags, Fügen Sie den ersten Tag hinzu!

Schreiben Sie den ersten Kommentar!