Decoupled Model Predictive Control for Path Following on Complex Surfaces

The present letter proposes a predictive path following control (PPFC) that controls 5 degrees of freedom (DoFs) the end-effector while remaining (decoupled) translational DoF should be controlled by an external controller. This PPFC is particularly useful for on surfaces with geometric uncertainties such controller can independently designed to manage interaction between tool and surface. Therefore, proposed strategy turns out versatile scheme integrated controllers applications as robotic surface finishing, welding 3D printing complex surfaces. corresponding optimal problem (OCP) considers mainly positioning orientation errors, tangential velocity input amplitudes. validated experimentally in context bio-printing. A 7-DoF redundant manipulator equipped distance sensor used handle print head through desired path. measurements are correct printed layer height. obtained accuracy consistent repeatability computation time compatible high frequency controllers.