Model predictive control of a collaborative manipulator considering dynamic obstacles

DOI10.1002/oca.2599zbMath1469.93023OpenAlexW3015423984MaRDI QIDQ5003644

Torsten Bertram, Christoph Rösmann, Maximilian Krämer, Frank Hoffmann

Publication date: 22 July 2021

Published in: Optimal Control Applications and Methods (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/oca.2599

zbMATH Keywords

model predictive controlinput delayonline trajectory optimizationhuman-robot collaboration

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Existence theories for optimal control problems involving ordinary differential equations (49J15) Model predictive control (93B45)

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