User: Guest  Login
Document type:
Bachelorarbeit 
Author(s):
Ebert, Frederik 
Title:
Nonlinear Model Predictive Control in the Application of Constrained Manipulator Control 
Abstract:
The goal of this thesis is to evaluate model predictive control (MPC) in the context of constrained redundant robot manipulators. At first MPC is applied to linear systems and compared with traditional finite-horizon optimal control. In the second part the model predictive- and finite-horizon kinematic control strategy proposed by Schuetz [1] is implemented. Additionally an alternative MPC and finite horizon control algorithm is developed based on the shooting method. To contrast these metho...    »
 
Advisor:
An, Sang-ik 
Date of acceptation:
14.11.2014 
Year:
2014 
Quarter:
4. Quartal 
Year / month:
2014-11 
Month:
Nov 
Language:
en 
University:
TU München 
TUM Institution:
Juniorprofessur Dynamische Mensch-Roboter-Interaktion für Automatisierungstechnik 
Commencing Date:
14.05.2014