Model Predictive Control for Assistive Robotics Manipulation

Fábio Luz; Bruno Guerreiro; Manuel Marques

doi:10.1007/978-3-031-10047-5_8

Model Predictive Control for Assistive Robotics Manipulation

Fábio Luz, Bruno Guerreiro, Manuel Marques

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

Abstract

This paper addresses the use of Model Predictive Control (MPC) method for robotic manipulation, more specifically for a six-degrees of freedom robotic manipulator that is used for assistive purposes. MPC does not require any user’s control input, allows the handle of nonlinear constraints, and opens the door to integrate machine learning and artificial intelligence techniques, contributing towards more autonomous assistance. The results show the ability to reach the reference position, even if it is variable through time, and to react immediately to perturbations, adapting the trajectory of the end-effector.

Original language	English
Title of host publication	CONTROLO 2022
Subtitle of host publication	Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal
Editors	Luís Brito Palma, Rui Neves-Silva, Luís Gomes
Place of Publication	Cham
Publisher	Springer
Pages	83-94
Number of pages	12
ISBN (Electronic)	978-3-031-10047-5
ISBN (Print)	978-3-031-10046-8
DOIs	https://doi.org/10.1007/978-3-031-10047-5_8
Publication status	Published - Jul 2022
Event	15th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2022 - Caparica, Portugal Duration: 6 Jul 2022 → 8 Jul 2022

Publication series

Name	Lecture Notes in Electrical Engineering
Publisher	Springer
Volume	930
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	15th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2022
Country/Territory	Portugal
City	Caparica
Period	6/07/22 → 8/07/22

Access to Document

10.1007/978-3-031-10047-5_8

Cite this

Luz, F., Guerreiro, B., & Marques, M. (2022). Model Predictive Control for Assistive Robotics Manipulation. In L. Brito Palma, R. Neves-Silva, & L. Gomes (Eds.), CONTROLO 2022: Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal (pp. 83-94). (Lecture Notes in Electrical Engineering; Vol. 930). Springer. https://doi.org/10.1007/978-3-031-10047-5_8

Luz, Fábio ; Guerreiro, Bruno ; Marques, Manuel. / Model Predictive Control for Assistive Robotics Manipulation. CONTROLO 2022: Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal. editor / Luís Brito Palma ; Rui Neves-Silva ; Luís Gomes. Cham : Springer, 2022. pp. 83-94 (Lecture Notes in Electrical Engineering).

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abstract = "This paper addresses the use of Model Predictive Control (MPC) method for robotic manipulation, more specifically for a six-degrees of freedom robotic manipulator that is used for assistive purposes. MPC does not require any user{\textquoteright}s control input, allows the handle of nonlinear constraints, and opens the door to integrate machine learning and artificial intelligence techniques, contributing towards more autonomous assistance. The results show the ability to reach the reference position, even if it is variable through time, and to react immediately to perturbations, adapting the trajectory of the end-effector.",

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Luz, F, Guerreiro, B & Marques, M 2022, Model Predictive Control for Assistive Robotics Manipulation. in L Brito Palma, R Neves-Silva & L Gomes (eds), CONTROLO 2022: Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal. Lecture Notes in Electrical Engineering, vol. 930, Springer, Cham, pp. 83-94, 15th APCA International Conference on Automatic Control and Soft Computing, CONTROLO 2022, Caparica, Portugal, 6/07/22. https://doi.org/10.1007/978-3-031-10047-5_8

Model Predictive Control for Assistive Robotics Manipulation. / Luz, Fábio; Guerreiro, Bruno; Marques, Manuel.
CONTROLO 2022: Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal. ed. / Luís Brito Palma; Rui Neves-Silva; Luís Gomes. Cham: Springer, 2022. p. 83-94 (Lecture Notes in Electrical Engineering; Vol. 930).

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

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Luz F, Guerreiro B, Marques M. Model Predictive Control for Assistive Robotics Manipulation. In Brito Palma L, Neves-Silva R, Gomes L, editors, CONTROLO 2022: Proceedings of the 15th APCA International Conference on Automatic Control and Soft Computing, July 6-8, 2022, Caparica, Portugal. Cham: Springer. 2022. p. 83-94. (Lecture Notes in Electrical Engineering). doi: 10.1007/978-3-031-10047-5_8