Abstract
In recent years, researches on manipulation systems that can respond quickly to changes in the environment are increasing. Our research group has studied a juggling robot as one example of them. If the robot is a multi-joint manipulator and moves at high speed, the influence of the dynamics of the robot can not be ignored. Our previous studies have mainly used simple PD control based on the difference between the target joint angle and the actual angle. However, due to the influence of dynamics, tracking errors remain at high speed operation. In order to solve this problem, in this paper nonlinear model predictive control (NMPC) is applied to a high speed robot. Since NMPC has a large calculation load, it applies only to axes with large tracking error. Experimental results are shown to verify the proposed method.
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