Towards an Open Toolchain for Fast Nonlinear MPC for Serial Robots
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.2683
Abstract: Abstract This paper presents an open toolchain tailored for deployment of nonlinear model predictive control for serial robots. The toolchain provides a direct workflow from problem definition to solution deployment on a serial robot based… read more here.
Keywords: towards open; toolchain fast; mpc; fast nonlinear ... See more keywords
Experimental assessment and feedforward control of backlash and stiction in industrial serial robots for low-speed operations
Sign Up to like & getrecommendations! Published in 2022 at "International Journal of Computer Integrated Manufacturing"
DOI: 10.1080/0951192x.2022.2090609
Abstract: ABSTRACT Serial robots have been successful in numerous applications; however, their limited motion accuracy hinders the potential for high precision robotic machining. Among the many sources of error in robot movement, non-linearities at robot joints,… read more here.
Keywords: assessment feedforward; stiction; serial robots; experimental assessment ... See more keywords