A model predictive control (MPC) scheme for Stationery a Schunk PowerCube robot is derived in a structured step-by-step procedure.Neweul-M2 provides the necessary nonlinear model in symbolical and numerical form.To handle the heavy online computational burden concerning the derived nonlinear model, a linear time-varying MPC scheme is developed based on linearizing the nonlinear system concerning the desired trajectory and the a priori known corresponding feed-forward controller.
Camera-based systems allow sensing of the robot on the one hand and monitoring the environments on the other hand.Therefore, a vision-based MPC is realized to show the effects of vision-based control feedback on control performance.A semi-automatic trajectory planning is used to perform two meaningful experimental studies Family in which the advantages and restrictions of the proposed (vision-based) linear time-varying MPC scheme are pointed out.
Everything is implemented on a slim, low-cost control system with a standard laptop PC.