Real-Time Path-Constrained Trajectory Tracking for Robot Manipulators with Energy Budget Optimization

This paper considers the pathconstrained trajectory tracking for robot manipulators optimizing a limited energy budget. The proposed strategy is based on a Nonlinear Receding Horizon Predictive Control (NRHPC) using a path parameterization of dimension one. The dynamic of the parameterized trajectory is governed by a predefined linear system, then an energy and a cost functions are defined and a NRHPC based on a Newton method is used to minimize the cost function in real time. The method is presented in both joint and task space. The proposed solution is verified on a 4 DOF manipulator with successful simulation and experimental results.