Model Predictive Force Control in Grinding based on a Lightweight Robot

mortality forecasting based on lee-carter model

over the past decades a number of approaches have been applied for forecasting mortality. in 1992, a new method for long-run forecast of the level and age pattern of mortality was published by lee and carter. this method was welcomed by many authors so it was extended through a wider class of generalized, parametric and nonlinear model. this model represents one of the most influential recent d...

Model Based Predictive Control of a Fully Parallel Robot

Abstract: This paper deals with an efficient application of a model based predictive control in parallel machines. A receding horizon control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. The model based predictive control and the ...

Graph-based Model Predictive Control of a Planar Bipedal Robot

In this paper, we propose a new offline model predictive control for a planar bipedal robot, which we call here Graph-based Model Predictive Control. This method consists of two phases : the graph construction phase and the real-time control phase. The directed graph is constructed off line by i) placing a certain number of nodes on the state space of the robot, ii) computing the optimal path s...

Motion Control of a Robot Manipulator in Free Space Based on Model Predictive Control

Predictive Force Control of Robot Manipulators in Nonrigid Environments

The application of robot manipulators in industry is in general related to tasks such as manipulation or painting that requires only position control of the arm. Nonetheless, there are other robotic tasks like pushing, polishing and grinding that require interaction between the manipulator and a contact surface or environment. This fact leads to the desire of controlling the interaction between...