BoundMPC: Cartesian Trajectory Planning with Error Bounds based on Model Predictive Control in the Joint Space.
Thies OelerichFlorian BeckChristian Hartl-NesicAndreas KugiPublished in: CoRR (2024)
Keyphrases
- joint space
- trajectory planning
- error bounds
- model predictive control
- predictive control
- motion planning
- control system
- robot manipulators
- control scheme
- path planning
- degrees of freedom
- dynamic environments
- obstacle avoidance
- theoretical analysis
- humanoid robot
- worst case
- end effector
- mobile robot
- control law
- control strategy
- lower bound
- dynamic model
- upper bound
- fuzzy controller
- configuration space
- neural network
- closed loop
- pose estimation
- artificial intelligence