Predictive computed-torque control of a PUMA 560 manipulator robot

Victor M. Becerra; Steven Cook; Jiamei Deng

Predictive computed-torque control of a PUMA 560 manipulator robot

Victor M. Becerra, Steven Cook, Jiamei Deng

Research output: Chapter in Book/Report/Conference proceeding › Other chapter contribution

Abstract

This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadratic programming problem at every sampling interval, which was as short as 10 ms, using a prediction horizon of 150 steps and an 18th order state space model.

Original language	English
Title of host publication	Proceedings of the 16th IFAC World Congress
Editors	Pavel Piztek
Publisher	Elsevier
Publication status	Published - 1 Jun 2006

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title = "Predictive computed-torque control of a PUMA 560 manipulator robot",

abstract = "This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadratic programming problem at every sampling interval, which was as short as 10 ms, using a prediction horizon of 150 steps and an 18th order state space model.",

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AU - Deng, Jiamei

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N2 - This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadratic programming problem at every sampling interval, which was as short as 10 ms, using a prediction horizon of 150 steps and an 18th order state space model.

AB - This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadratic programming problem at every sampling interval, which was as short as 10 ms, using a prediction horizon of 150 steps and an 18th order state space model.

M3 - Other chapter contribution

BT - Proceedings of the 16th IFAC World Congress

A2 - Piztek, Pavel

PB - Elsevier

ER -

Predictive computed-torque control of a PUMA 560 manipulator robot

Abstract

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