NMPC-MP: Real-time Nonlinear Model Predictive Control for Safe Motion Planning in Manipulator Teleoperation.
Siqi HuEdwin BabaiansMojtaba KarimiEckehard G. SteinbachPublished in: IROS (2021)
Keyphrases
- experimental data
- nonlinear model predictive control
- dynamic model
- motion planning
- robotic arm
- image based visual servoing
- visual servoing
- degrees of freedom
- real time
- inverse kinematics
- robot manipulators
- end effector
- vision system
- path planning
- trajectory planning
- robot arm
- mobile robot
- control law
- humanoid robot
- robotic tasks
- control system
- control scheme
- visual feedback
- master slave
- pose estimation
- computationally efficient
- obstacle avoidance
- dynamic environments
- collision free
- collision avoidance
- image space
- closed loop
- sliding mode
- fuzzy logic
- camera motion