Please use this identifier to cite or link to this item: http://dx.doi.org/10.18419/opus-11101
|Title:||Modeling, simulation, and vision-/MPC-based control of a PowerCube serial robot|
|metadata.ubs.publikation.source:||Applied sciences 10 (2020), No. 7270|
|Abstract:||A model predictive control (MPC) scheme for 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 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.|
|Appears in Collections:||07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik|
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