Title :
Model predictive control for impact-contact motion of a manipulator
Author :
de Carufel, J. ; Necsulescu, D.S.
Author_Institution :
Dept. of Mech. Eng., Ottawa Univ., Ont., Canada
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
Keywords :
force control; friction; manipulator dynamics; motion control; predictive control; 2D planar robot; contact mechanics; controlled system; dynamical structure; force control; impact-contact motion; model predictive control; robot manipulator; simulation; stick-slip friction; Control systems; Costs; Force control; Manipulator dynamics; Mechanical engineering; Motion control; Predictive control; Predictive models; Robots; Velocity control;
Conference_Titel :
Electrical and Computer Engineering, 1995. Canadian Conference on
Conference_Location :
Montreal, Que.
Print_ISBN :
0-7803-2766-7
DOI :
10.1109/CCECE.1995.528141
