1P1-P11 非線形モデル予測制御を用いたエアホッケーロボットシステム(アミューズメント・エンタテイナーロボット) [in Japanese] 1P1-P11 Air Hockey Robot System with Nonlinear Model Predictive Control(Robots for Amusement and Entertainment) [in Japanese]
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One of the robots to interact with humans is the air hockey robots. The robots require to respond instantly to a high-speed puck. The problems of the present system are control tracking performance in terms of accuracy and generating control input which is out of the range. The goal of this study is to solve the problems. To achieve this, we use Nonlinear Model Predictive Control, NMPC, with C/GMRES method. In this paper, first, the outline of NMPC with C/GMRES method is explained. Secondly, the problem setting of the system is explained. Then, we show the data of experiments and verify the effectiveness of the system.
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1P1-P11_1-_1P1-P11_4, 2012
The Japan Society of Mechanical Engineers