Bitte benutzen Sie diese Kennung, um auf die Ressource zu verweisen:
http://dx.doi.org/10.18419/opus-11101
Autor(en): | Fehr, Jörg Schmid, Patrick Schneider, Georg Eberhard, Peter |
Titel: | Modeling, simulation, and vision-/MPC-based control of a PowerCube serial robot |
Erscheinungsdatum: | 2020 |
Dokumentart: | Zeitschriftenartikel |
Seiten: | 26 |
Erschienen in: | Applied sciences 10 (2020), No. 7270 |
URI: | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-111185 http://elib.uni-stuttgart.de/handle/11682/11118 http://dx.doi.org/10.18419/opus-11101 |
ISSN: | 2076-3417 |
Zusammenfassung: | 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. |
Enthalten in den Sammlungen: | 07 Fakultät Konstruktions-, Produktions- und Fahrzeugtechnik |
Dateien zu dieser Ressource:
Datei | Beschreibung | Größe | Format | |
---|---|---|---|---|
applsci-10-07270-v2.pdf | 7,26 MB | Adobe PDF | Öffnen/Anzeigen |
Alle Ressourcen in diesem Repositorium sind urheberrechtlich geschützt.