Advantages of application of non-linear MPC to 2-DOF direct driven industrial robot manipulator

Abstract

Applications of the Model Based Predictive Control technique (MPC) to the different fields of industry found a great success. However, application of MPC to robot manipulators still limited, because of their fast Non-linear dynamics and probably, due to policy of manufacturers. This paper is one of series of papers studying the application of nonlinear MPC strategy to an industrial robot manipulator of two degrees of freedom (2-DOF). The study sustains advantages of MPC strategy and includes comparison with the most used conventional control technique. The robot manipulator under investigation is direct driven (DDA) which means has a non-linear model and high joint coupling.