Finite-Time Model Predictive Tracking Control of Position and Orientation for Redundant Manipulators.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS（2023）
Key words
Manipulator dynamics,End effectors,Trajectory tracking,Optimization,Service robots,Predictive models,Task analysis,Model predictive control (MPC),neural dynamics (ND),quadratic programming (QP),redundant manipulator,simultaneous control of position and orientation
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