Manipulator Trajectory Tracking and Force Compliance Control Based on Model Predictive Control

The pillar shaping work of solid rocket motors involves complex trajectory tracking and force control problems, which are dangerous by manual operation. In this paper, a position method based on MPC is proposed, the admittance used to realize local compliance manipulator contact force. numerical simulation, tracks given shows suppleness in with environment presence external forces. Simulations were conducted compare improved computational torque conventional PID method, fastest reduction 0.34s regulation time up 0.165 rad overshoot.