Interaction Force Constraints for Position-Controlled Manipulator Using Linear MPC.
Nicola PiccinelliRiccardo MuradorePublished in: ICAR (2023)
Keyphrases
- end effector
- linear constraints
- computer controlled
- degrees of freedom
- linear inequalities
- robotic manipulator
- closed form solutions
- path planning
- closed loop
- control system
- inverse kinematics
- constraint satisfaction
- contact force
- linear model
- robot arm
- closed form
- human computer interaction
- vision system
- mathematical program
- position information
- constrained optimization
- mobile robot