Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control.
Jaemin LeeMingyo SeoAndrew BylardRobert SunLuis SentisPublished in: ICRA (2023)
Keyphrases
- model predictive control
- control system
- real time
- predictive control
- control law
- real time control
- control strategy
- control method
- control algorithm
- adaptive control
- master slave
- disturbance rejection
- data acquisition
- closed loop
- control scheme
- robotic systems
- fuzzy logic
- neuro fuzzy
- control signals
- motion planning
- artificial intelligence
- degrees of freedom
- vision system
- optimal control
- path planning
- dynamic environments
- scale space
- computational intelligence
- data warehouse
- case based reasoning
- management system
- mpc algorithm