Model Predictive Control for a 2-DOF Robotic Arm: Dynamics and Control

摘要

The growing interest in arm robotics is driven by the need to facilitate complex and repetitive jobs for humans, as well as by the advancement of production. There is a need for optimal control techniques for better control of robot arms. This paper presents the control dynamics of a planar robot arm with two degrees of freedom using the Model Predictive Control (MPC) technique. It uses the feedback linearization technique to linearize the nonlinear control dynamics of the robot manipulator. The control parameters using the model predictive control technique are achieved by minimizing a quadratic criterion. Furthermore, a simulation analysis and its results are outlined to emphasize the efficiency of the presented technique.