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In this article we discuss some of the benefits of using an MPC as a mid-level controller between the path generator and the low-level joint controller of a robot system. The MPC handles rudimentary runtime constraints that are not considered during path generation. We compare two task space oriented controllers: the model predictive path following controller and the model predictive trajectory tracking...
This paper describes the development of several controllers to handle a trajectory tracking problem for a differentially wheeled robot. Both simulations and tests on a real robot were performed. A simple kinematic controller has been implemented to calculate desired velocities based on current position and trajectory. In order to also consider the current velocities, i.e. the dynamics of the system,...
This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual joint angles, the proposed framework allows the body shape to be specified in terms of Cartesian coordinates in the environment of the robot. This approach simplifies motion planning...
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