Kinematic Model Predictive Control for a Novel Tethered Aerial Cable-Driven Continuum Robot.
Jer Luen ChienLeong Tze Lyn ClarissaJingmin LiuJiahwee LowShaohui FoongPublished in: AIM (2021)
Keyphrases
- model predictive control
- parallel robot
- predictive control
- inverse kinematics
- control system
- end effector
- mobile robot
- configuration space
- joint space
- motion control
- human robot interaction
- physical constraints
- degrees of freedom
- robot arm
- robot manipulators
- humanoid robot
- kinematic model
- path planning
- robotic systems
- vision system
- fiber optic
- autonomous robots
- multi robot
- real time
- visual servoing
- position and orientation
- control strategy
- artificial intelligence
- mpc algorithm
- high density
- control law
- pid controller
- motion planning
- control scheme
- control algorithm
- decision trees