{"title":"Model predictive control for impact-contact motion of a manipulator","authors":"J. de Carufel, D. Necsulescu","doi":"10.1109/CCECE.1995.528141","DOIUrl":null,"url":null,"abstract":"In this paper we propose to use model predictive control (MPC) for the impact/contact motion control of a robot manipulator. The advantages of MPC when changes occur in the dynamical structure of a controlled system are investigated. The contact model used, derived from contact mechanics, includes a dynamic model of friction exhibiting stick-slip. The nonlinear MPC implementation is demonstrated with simulation results.","PeriodicalId":158581,"journal":{"name":"Proceedings 1995 Canadian Conference on Electrical and Computer Engineering","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-09-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 1995 Canadian Conference on Electrical and Computer Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCECE.1995.528141","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 1
Abstract
In this paper we propose to use model predictive control (MPC) for the impact/contact motion control of a robot manipulator. The advantages of MPC when changes occur in the dynamical structure of a controlled system are investigated. The contact model used, derived from contact mechanics, includes a dynamic model of friction exhibiting stick-slip. The nonlinear MPC implementation is demonstrated with simulation results.
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