NMPC-MP: Real-time Nonlinear Model Predictive Control for Safe Motion Planning in Manipulator Teleoperation
Siqi Hu,Edwin Babaians,Mojtaba Karimi,Eckehard Steinbach,Siqi Hu,Edwin Babaians,Mojtaba Karimi,Eckehard Steinbach
Motion control and planning for the manipulator are critical components in manipulator teleoperation. Online (real-time) motion control is challenging for active obstacle avoidance and often results in fluctuating and unsafe motion. Offline motion planning, on the other hand, generates precise and secure trajectories for complex manipulation. In this paper, a real-time nonlinear model predictive c...
