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Real-Time Trajectory Generation using Model Predictive Control

Ghazaei, Mahdi LU ; Olofsson, Björn LU ; Robertsson, Anders LU and Johansson, Rolf LU (2015) IEEE International Conference on Automation Science and Engineering (IEEE CASE 2015) In 2015 IEEE Conference on Automation Science and Engineering (CASE) p.942-948
Abstract
The problem of planning a trajectory for robots starting in an initial state and reaching a final state in a desired interval of time is tackled. We consider Model Predictive Control as an approach to the problem of point-to-point trajectory generation. We use the developed strategy to generate trajectories for transferring the state of the robot, fulfilling computational real-time requirements. Experiments on an industrial robot in a ball-catching scenario show the effectiveness of the approach.
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author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
2015 IEEE Conference on Automation Science and Engineering (CASE)
pages
942 - 948
publisher
IEEE--Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE International Conference on Automation Science and Engineering (IEEE CASE 2015)
external identifiers
  • Scopus:84952767139
project
SMErobotics
PRACE
language
English
LU publication?
yes
id
719dec89-76c5-44a4-8ae2-108a77964a80 (old id 7856566)
date added to LUP
2015-09-07 09:49:16
date last changed
2016-10-13 05:10:13
@misc{719dec89-76c5-44a4-8ae2-108a77964a80,
  abstract     = {The problem of planning a trajectory for robots starting in an initial state and reaching a final state in a desired interval of time is tackled. We consider Model Predictive Control as an approach to the problem of point-to-point trajectory generation. We use the developed strategy to generate trajectories for transferring the state of the robot, fulfilling computational real-time requirements. Experiments on an industrial robot in a ball-catching scenario show the effectiveness of the approach.},
  author       = {Ghazaei, Mahdi and Olofsson, Björn and Robertsson, Anders and Johansson, Rolf},
  language     = {eng},
  month        = {08},
  pages        = {942--948},
  publisher    = {ARRAY(0x7b89000)},
  series       = {2015 IEEE Conference on	Automation Science and Engineering (CASE)},
  title        = {Real-Time Trajectory Generation using Model Predictive Control},
  year         = {2015},
}