Robot Control
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The problem of minimizing the transfer time along a given Cartesian path for redundant robots can be approached in two steps, by separating the generation of a joint path associated to the Cartesian path from the exact minimization of motion time under kinematic/dynamic bounds along the obtained...
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Our recently developed Reverse Priority (RP) redundancy resolution method is extended here to the presence of unilateral constraints. The RP method computes the solution to a stack of prioritized tasks starting from the lowest priority one, and adding iteratively the contributions of higher...
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In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs over an adaptive lattice. In common approximated OCP...