Predictive computed-torque control of a PUMA 560 manipulator robotBecerra, V. M., Cook, S. and Deng, J. (2006) Predictive computed-torque control of a PUMA 560 manipulator robot. In: Piztek , P. (ed.) Proceedings of the 16th IFAC World Congress. Elsevier. ISBN 9780080451084 Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. Abstract/SummaryThis 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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