Model Predictive Control With Integral Compensation for Motion Control of Robot Manipulator in Joint and Task Spaces
The motion control of robot manipulators is a crucial problem concerning automatically controlled robots. In this work, the model predictive control method with an integral compensation (MPC-I), which compensates for the matched uncertainties due to unmodeled dynamics, is proposed to solve the traje...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9112142/ |