Modeling, Simulation, and Vision-/MPC-Based Control of a PowerCube Serial Robot

Modeling, Simulation, and Vision-/MPC-Based Control of a PowerCube Serial Robot

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A model predictive control (MPC) scheme for a Schunk PowerCube robot is derived in a structured step-by-step procedure.Neweul-M2 provides the necessary nonlinear model in symbolical and numerical form.To handle the heavy online computational burden concerning the derived nonlinear model, a read more linear time-varying MPC scheme is developed based on linearizing the nonlinear system concerning the desired trajectory and the a priori known corresponding feed-forward controller.Camera-based systems allow sensing of the robot on the one hand and monitoring the environments on the other hand.

Therefore, a vision-based MPC is realized to show the effects of vision-based control feedback on control performance.A semi-automatic trajectory planning is used to perform turbosound ts-18sw700/8a two meaningful experimental studies in which the advantages and restrictions of the proposed (vision-based) linear time-varying MPC scheme are pointed out.Everything is implemented on a slim, low-cost control system with a standard laptop PC.