A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions
Ajay Suresha Sathya,Wilm Decre,Goele Pipeleers,Jan Swevers,Ajay Suresha Sathya,Wilm Decre,Goele Pipeleers,Jan Swevers
Prioritization of tasks is a common approach to resolve conflicts in instantaneous control of redundant robots. However, the idea of prioritization has not yet been satisfactorily extended to model predictive control (MPC) to allow for real-time robot control. The standard sequential approach for prioritization is unsuitable because of the computational burden involved in solving a nonlinear probl...
