Predictive control of robotic manipulators

Robot manipulators present restrictions on their performance, such as the maximum torque the motors can apply, limitations in their position, speed, acceleration, etc. This paper studies the application of a multivariable constrained predictive controller for robotic control, that considers these restrictions when calculating the control signal. The model used to calculate predictions is evaluated at every sample-time by linearization of the Denavit-Hartenberg model, and discretization using a bilinear transform. By using simulation, this paper presents the successful application of this technique to a direct-drive manipulator.