Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming.
Alejandro AstudilloJoris GillisMoritz DiehlWilm DecréGoele PipeleersJan SweversPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- position and orientation
- robot manipulators
- convex quadratic programming
- inverse kinematics
- pose estimation
- vision system
- dynamic model
- trajectory planning
- control scheme
- end effector
- sliding mode control
- robot arm
- nonlinear model predictive control
- variational inequalities
- reference frame
- sliding mode
- image sequences
- neural network
- joint angles
- pid controller