Constrained-Differential-Kinematics-Decomposition-Based NMPC for Online Manipulator Control with Low Computational Costs
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DOI: 10.3390/robotics12010007
Abstract: Flexibility combined with the ability to consider external constraints comprises the main advantages of nonlinear model predictive control (NMPC). Applied as a motion controller, NMPC enables applications in varying and disturbed environments, but requires time-consuming… read more here.
Keywords: differential kinematics; computational costs; constrained differential; kinematics ... See more keywords