Real-Time Model Predictive Control for Energy-Optimal Obstacle Avoidance in Parallel SCARA Robot for a Pick and Place Application
2024 IEEE CONFERENCE ON CONTROL TECHNOLOGY AND APPLICATIONS, CCTA 2024（2024）
关键词
Model Predictive Control,Obstacle Avoidance,Parallel Robot,Nonlinear Control,Conveyor Belt,Dynamic Obstacles,Nonlinear Model Predictive Control,Dynamic Model,Optimal Control,Feedback Control,Shortest Path,Nonlinear Programming,Prediction Horizon,Nonlinear Optimization Problem,Inverse Dynamics,Continuous-time Model,Soft Constraints,Joint Velocity,Kinematic Relations,Model Predictive Control Problem,Model Predictive Control Approach,Multiple Obstacles,Obstacles In The Way,Differential-algebraic Equations,Joint Acceleration,Control Configuration,Quadratic Cost,Quadratic Programming,Joint Position
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