Implementation of nonlinear model predictive path-following control for an industrial robot

Abstract

Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. Finally, we present the results of an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.