LAUSR

Decoupled Model Predictive Control for Path Following on Complex Surfaces

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2 Published in 2023 at "IEEE Robotics and Automation Letters"

DOI: 10.1109/lra.2023.3246393

Abstract: The present letter proposes a predictive path following control (PPFC) that controls 5 degrees of freedom (DoFs) of the end-effector while the remaining (decoupled) translational DoF should be controlled by an external controller. This PPFC… read more here.

Keywords: decoupled model; control; path; path following ... See more keywords