Modeling, Simulation, and Vision-/MPC-Based Control of a PowerCube Serial Robot

Abstract

A model predictive control (MPC) scheme for a Schunk PowerCube robot is derived in a structured step-by-step procedure. Neweul-M2 provides the necessary nonlinear model in symbolical and numerical form. To handle the heavy online computational burden concerning the derived nonlinear model, a linear time-varying MPC scheme is developed based on linearizing the nonlinear system concerning the desired trajectory and the a priori known corresponding feed-forward controller. Camera-based systems allow sensing of the robot on the one hand and monitoring the environments on the other hand. Therefore, a vision-based MPC is realized to show the effects of vision-based control feedback on control performance. A semi-automatic trajectory planning is used to perform two meaningful experimental studies in which the advantages and restrictions of the proposed (vision-based) linear time-varying MPC scheme are pointed out. Everything is implemented on a slim, low-cost control system with a standard laptop PC.