An Application of Model Predictive Control to Reactive Motion Planning of Robot Manipulators

摘要

In recent years, a number of trajectory optimization algorithms have been proposed and established for motion planning of robot manipulators in complex, but static, predefined environments. To enable reactive motion planning under uncertain conditions caused, for example, by moving obstacles, this paper proposes a formulation of the trajectory optimization problem that is tailored for model predictive control. The proposed algorithmic solution leverages off-the-shelf computational tools for nonlinear model predictive control, optimization, and collision checking. In addition, a motion planning paradigm is introduced to allow for online collision-free motion when following a joystick command. The approach is validated in the context of an industrial pick-and-place application using MATLAB® and a Kinova® robot manipulator, both in simulation and with actual hardware.