Аннотации:
This work describes MPC implementation for 6-DOF robotic arm which can autonomously
reach a target pose generated by a grasping pose estimation algorithm
and allows the user to send Cartesian velocity commands to the robot via 3-axis joystick
thanks to the system model based on Jacobian. The developed controller makes
use of variable weighting matrices to make movement in different control modes more
smooth and realistic. It also includes a visual constraint to minimize occlusion of
target object by the manipulator. The next step of this project is to implement a
shared autonomy scheme based on the developed system.