An Application of Model Predictive Control to Reactive Motion Planning of Robot Manipulators.
Anastasia MavrommatiCarlos OsorioRoberto G. ValentiAkshay RajhansPieter J. MostermanPublished in: CASE (2021)
Keyphrases
- robot manipulators
- model predictive control
- motion planning
- control scheme
- predictive control
- trajectory planning
- control system
- inverse kinematics
- pid controller
- closed loop
- control law
- degrees of freedom
- mobile robot
- dynamic model
- control strategy
- path planning
- robot arm
- fuzzy controller
- end effector
- humanoid robot
- multi robot
- obstacle avoidance
- fuzzy neural network
- multiple models
- control method
- machine learning
- configuration space