モデル予測制御による環境との接触を考慮したロボットの最適動作計画

抄録

In the robot motion planning, it is important to consider force received from the environment.This paper proposes a method of Model Predictive Control(MPC) that can deal with large variation of the state due to switching of contact and non-contact.We confirmed the effectiveness of the proposed method by a simulation control of 2-links manipulator.