Realizing collision avoidance motion for link mechanism using nonlinear model predictive control
In this paper, we aim to develop a technology that can be commonly used for link mechanisms. We use nonlinear model predictive control to design a control system that enables trajectory generation and trajectory tracking using only a single controller. By using the nonlinear model predictive control...
| Main Authors: | , , |
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| Format: | Article |
| Language: | Japanese |
| Published: |
The Japan Society of Mechanical Engineers
2022-03-01
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| Series: | Nihon Kikai Gakkai ronbunshu |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/transjsme/88/907/88_21-00279/_pdf/-char/en |