Predictive Control of Cooperative Robots Sharing Common Workspace
- We present a model predictive control (MPC) algorithm for online time-optimal trajectory planning of cooperative robotic manipulators. Robotic arms sharing a common confined operational space are exposed to high interrobot collision risks. For collision avoidance, a smooth robot geometry approximation by Bézier curves is applied, utilizing velocity constraints and tangent separating planes, enabling an efficient generation of robot trajectories in real-time. The proposed optimization algorithm is validated on an experimental setup consisting of two collaborative robotic arms performing synchronous pick-and-place tasks.
Author: | Argtim TikaORCiD, Bajcinca Naim |
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URN: | urn:nbn:de:hbz:386-kluedo-77158 |
ISSN: | 1558-0865 |
Parent Title (English): | IEEE Transactions on Control Systems Technology |
Document Type: | Article |
Language of publication: | English |
Date of Publication (online): | 2023/11/20 |
Year of first Publication: | 2023 |
Publishing Institution: | Rheinland-Pfälzische Technische Universität Kaiserslautern-Landau |
Date of the Publication (Server): | 2024/02/28 |
Tag: | Collision Avoidance; Model Predictive Control; Optimization; Robotics; Trajectory Planning |
GND Keyword: | Optimierung; Modellprädiktive Regelung; Robotik |
Issue: | 32/2 |
Page Number: | 16 |
Source: | https://ieeexplore.ieee.org/document/10322775 |
Faculties / Organisational entities: | Kaiserslautern - Fachbereich Maschinenbau und Verfahrenstechnik |
DDC-Cassification: | 6 Technik, Medizin, angewandte Wissenschaften / 620 Ingenieurwissenschaften und Maschinenbau |
Collections: | Open-Access-Publikationsfonds |
Licence (German): | Zweitveröffentlichung |