Optimal Trajectory Planning and Model Predictive Control for Elastic and Kinematically Redundant Multibody Syst, Schriftenreihe Advances in Mechatronics, Bd. 31

Automation and production industry in seeking for high-speed robotic multibody systems, that fulfill the increasing demand for high-performance and low-cost processes. Therefore, extensive research is being undertaken in the field of optimal path planning and optimal trajectory control for lightweight robots. In the first part of this book, strategies for time-optimal trajectory planning for elastic as well as kinematically redundant multibody systems are developed. Futhermore, an approach for online time-optimal point-to-point planning is presented. The second part of the thesis focuses on the three different formulations for model predictive control of nonlinear systems and its implementations. A final verification shows, that a flatness-based model predictive controller in combination with a position controlled system is able to cope with state constraints of arbitary order as well as highly dynamical tasks such as vibration damping. Due to the fact, that all methods are implemented at real robots, the target audience incudes not only researching from academia but also preofessional from industry.