Model predictive control for impact-contact motion of a manipulator

In this paper we propose to use model predictive control (MPC) for the impact/contact motion control of a robot manipulator. The advantages of MPC when changes occur in the dynamical structure of a controlled system are investigated. The contact model used, derived from contact mechanics, includes a dynamic model of friction exhibiting stick-slip. The nonlinear MPC implementation is demonstrated with simulation results.

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