Bitte benutzen Sie diese Kennung, um auf die Ressource zu verweisen:
http://dx.doi.org/10.18419/opus-11101
Langanzeige der Metadaten
DC Element | Wert | Sprache |
---|---|---|
dc.contributor.author | Fehr, Jörg | - |
dc.contributor.author | Schmid, Patrick | - |
dc.contributor.author | Schneider, Georg | - |
dc.contributor.author | Eberhard, Peter | - |
dc.date.accessioned | 2020-10-30T15:39:58Z | - |
dc.date.available | 2020-10-30T15:39:58Z | - |
dc.date.issued | 2020 | de |
dc.identifier.issn | 2076-3417 | - |
dc.identifier.other | 1737490315 | - |
dc.identifier.uri | http://nbn-resolving.de/urn:nbn:de:bsz:93-opus-ds-111185 | de |
dc.identifier.uri | http://elib.uni-stuttgart.de/handle/11682/11118 | - |
dc.identifier.uri | http://dx.doi.org/10.18419/opus-11101 | - |
dc.description.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. | en |
dc.language.iso | en | de |
dc.relation.uri | doi:10.3390/app10207270 | de |
dc.rights | info:eu-repo/semantics/openAccess | de |
dc.subject.ddc | 620 | de |
dc.title | Modeling, simulation, and vision-/MPC-based control of a PowerCube serial robot | en |
dc.type | article | de |
ubs.fakultaet | Konstruktions-, Produktions- und Fahrzeugtechnik | de |
ubs.institut | Institut für Technische und Numerische Mechanik | de |
ubs.publikation.seiten | 26 | de |
ubs.publikation.source | Applied sciences 10 (2020), No. 7270 | de |
ubs.publikation.typ | Zeitschriftenartikel | de |
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.