Two degrees of freedom control and B-spline functions as tools for a reduced complexity approach to MPC.
Leopoldo JettoValentina OrsiniRaffaele RomagnoliPublished in: ACC (2020)
Keyphrases
- degrees of freedom
- b spline
- reduced complexity
- robotic arm
- basis functions
- end effector
- control points
- motion planning
- pose estimation
- piecewise polynomial
- vector quantization
- least squares
- articulated objects
- path planning
- control system
- tensor product
- joint space
- optimal control
- linear combination
- small number
- visual servoing
- d objects
- viewpoint