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)
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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/7856566
- author
- Ghazaei, Mahdi
LU
; Olofsson, Björn
LU
; Robertsson, Anders
LU
and Johansson, Rolf
LU
- organization
- publishing date
- 2015-08-24
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- 2015 IEEE Conference on Automation Science and Engineering (CASE) : Automation for a Sustainable Future - Automation for a Sustainable Future
- 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)
- conference dates
- 2015-08-24 - 2015-08-28
- external identifiers
-
- scopus:84952767139
- project
- PRACE
- RobotLab LTH
- SMErobotics
- language
- English
- LU publication?
- yes
- additional info
- [Finalist for Best Student Paper Award]
- id
- 719dec89-76c5-44a4-8ae2-108a77964a80 (old id 7856566)
- date added to LUP
- 2016-04-04 13:15:29
- date last changed
- 2024-05-17 08:04:30
@inproceedings{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}},
booktitle = {{2015 IEEE Conference on Automation Science and Engineering (CASE) : Automation for a Sustainable Future}},
language = {{eng}},
month = {{08}},
pages = {{942--948}},
publisher = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
title = {{Real-Time Trajectory Generation Using Model Predictive Control}},
url = {{https://lup.lub.lu.se/search/files/8475064/8053862.pdf}},
year = {{2015}},
}