Predictive computed-torque control of a PUMA 560 manipulator robot

Becerra, V. M., Cook, S. and Deng, J. (2006) Predictive computed-torque control of a PUMA 560 manipulator robot. In: Piztek , P. (ed.) Proceedings of the 16th IFAC World Congress. Elsevier. ISBN 9780080451084

Abstract/Summary

This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadratic programming problem at every sampling interval, which was as short as 10 ms, using a prediction horizon of 150 steps and an 18th order state space model.