Robot manipulators present restrictions on their performance, such as the maximum torque
the motors can apply, limitations in their position, speed, acceleration, etc. This paper …

The paper presents an efficient control algorithm applied on a two-link robot manipulator
with input constraints. The algorithm proposes a suboptimal solution to the predictive control …

Robotic systems present physical limitations in the maximum torque that the motors can
apply and its variation rate. Also, due to safety regulations, there are strict limitations in the …

This work presents a multivariable predictive controller applied on a redundant robotic
manipulator with three degrees of freedom. The article focuses on the design of a discrete …

An efficient approach for nonlinear model predictive control is proposed. Basically, the
model is first linearized by feedback, secondly a model predictive control scheme …

In this paper two predictive controllers for non-linear systems are presented. Both methods—
ELPC and MELPC—are based on a local linearisation of the process at each sampling …

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 …

The paper presents a software implementation of the nonlinear model predictive control
(NMPC) algorithm of Wen and Jung (2002, 2003) to a 6-degree-of-freedom robot …

Conventional linear controllers (PID) are not really suitable for the control of robot
manipulators due to the highly nonlinear behavior of the latter. Over the last decades …

In this paper, a novel scheme with a predictive action is proposed for trajectory control of
robotic manipulators. The algorithm is based on a CARIMA model for each joint, by means of …