Context-aware robotic arm using fast embedded model predictive control

Shane Trimble; Wasif Naeem; Sean McLoone; Pantelis Sopasakis

doi:10.1109/ISSC49989.2020.9180217

Context-aware robotic arm using fast embedded model predictive control

Shane Trimble, Wasif Naeem, Sean McLoone, Pantelis Sopasakis

School of Electronics, Electrical Engineering and Computer Science

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

4 Citations (Scopus)

300 Downloads (Pure)

Abstract

The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.

Original language	English
Title of host publication	Irish Systems and Signals Conference: Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	6
DOIs	https://doi.org/10.1109/ISSC49989.2020.9180217
Publication status	Published - 11 Jun 2020

Publication series

Name	Context-aware robotic arm using fast embedded model predictive control
Publisher	IEEE
ISSN (Print)	2688-1446
ISSN (Electronic)	2688-1454

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10.1109/ISSC49989.2020.9180217Licence: Unspecified

Context-aware robotic arm using fast embedded model predictive control
Copyright 2020 IEEE. This work is made available online in accordance with the publisher’s policies. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 346 KBLicence: Unspecified

Collaborative control strategies for robotic manipulation
Trimble, S. (Author), Naeem, W. (Supervisor), Sopasakis, P. (Supervisor) & McLoone, S. (Supervisor), Dec 2021
Student thesis: Doctoral Thesis › Doctor of Philosophy

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Context-aware robotic arm using fast embedded model predictive control. / Trimble, Shane; Naeem, Wasif ; McLoone, Sean et al.
Irish Systems and Signals Conference: Proceedings. Institute of Electrical and Electronics Engineers Inc., 2020. (Context-aware robotic arm using fast embedded model predictive control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - McLoone, Sean

AU - Sopasakis, Pantelis

PY - 2020/6/11

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BT - Irish Systems and Signals Conference: Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

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Context-aware robotic arm using fast embedded model predictive control

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Student theses

Collaborative control strategies for robotic manipulation

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