Resolved motion model based predictive control of redundant robots

Zagorianos, A; Kontoyannis, E; Tzafestas, S

dc.contributor.author	Zagorianos, A	en
dc.contributor.author	Kontoyannis, E	en
dc.contributor.author	Tzafestas, S	en
dc.date.accessioned	2014-03-01T01:10:15Z
dc.date.available	2014-03-01T01:10:15Z
dc.date.issued	1994	en
dc.identifier.issn	0378-4754	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/11341
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0028548663&partnerID=40&md5=dfaa8cd0ade964b4403fa8c92eb60696	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Computer Science, Software Engineering	en
dc.subject.classification	Mathematics, Applied	en
dc.subject.other	Calculations	en
dc.subject.other	Constraint theory	en
dc.subject.other	Control theory	en
dc.subject.other	Functions	en
dc.subject.other	Industrial robots	en
dc.subject.other	Kinematics	en
dc.subject.other	Motion control	en
dc.subject.other	Performance	en
dc.subject.other	Predictive control systems	en
dc.subject.other	Redundancy	en
dc.subject.other	Robotics	en
dc.subject.other	Servomotors	en
dc.subject.other	Flexibility	en
dc.subject.other	Kinematic transformation	en
dc.subject.other	Model based predictive control	en
dc.subject.other	Versatility	en
dc.subject.other	Mathematical models	en
dc.title	Resolved motion model based predictive control of redundant robots	en
heal.type	journalArticle	en
heal.language	English	en
heal.publicationDate	1994	en
heal.abstract	Flexibility and versatility are two basic requirements for industrial robots used in manufacturing areas. In the present paper, a kinematic transformation for redundant robots between Cartesian and joint coordinates is achieved in the trajectory planner. This problem is treated by taking into account both the dynamics of the system expressed by its Lagrangian and the kinematic constraints of the robot. Given the joint trajectories as above, a control law for joint trajectory tracking is generated here using the Model Based Predictive Control (MBPC) approach. The MBPC strategy is based on an explicit robot model to predict the process output over a long-range time period. The postulated control law is constructed such that to fit a desired command acceleration for the servo motors of the robotic system. The actual control law is calculated by minimizing a suitable objective function. A numerical example concerning a robot with one degree of redundancy illustrates the method and shows the excellent performance of the proposed MBPC scheme. The drifting problem that emerges in the resolved motion control of redundant robots is successfully faced. © 1994.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Mathematics and Computers in Simulation	en
dc.identifier.isi	ISI:A1994PW87600013	en
dc.identifier.volume	37	en
dc.identifier.issue	2-3	en
dc.identifier.spage	195	en
dc.identifier.epage	205	en