Real-time Robot Arm Motion Planning and Control with Nonlinear Model Predictive Control using Augmented Lagrangian on a First-Order Solver.
Ajay Suresha SathyaJoris GillisGoele PipeleersJan SweversPublished in: ECC (2020)
Keyphrases
- robot arm
- motion planning
- real time
- augmented lagrangian
- end effector
- degrees of freedom
- mobile robot
- control system
- inverse kinematics
- control strategies
- path planning
- constrained optimization
- humanoid robot
- image based visual servoing
- visual servoing
- vision system
- total variation
- multi robot
- control law
- robot control
- robotic systems
- pose estimation
- control method
- adaptive control
- nonlinear systems
- control strategy
- genetic programming