On Model Predictive Path Following and Trajectory Tracking for Industrial Robots

TL;DR

This paper compares model predictive path following and trajectory tracking controllers for industrial robots, highlighting the path following controller's ability to stop at obstructions, with simulations and real-time considerations.

Contribution

It introduces a model predictive path following controller for robotic manipulators and analyzes its advantages over trajectory tracking controllers in obstacle avoidance.

Findings

Path following controller enables stopping at obstructions.

Simulation results demonstrate controller effectiveness.

Discussion on real-time implementation viability.

Abstract

In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking controllers cannot. We present both controllers as applied to robotic manipulators, simulations for a two-link manipulator using an interior point solver, consider discretization of the optimal control problem using collocation or Runge-Kutta, and discuss the real-time viability of our implementation of the model predictive path following controller.