DISCRETE ELEMENT SIMULATIONS OF TRIAXIAL COMPRESSION TESTS OF CSA CEMENT-TREATED SANDMODEL PREDICTIVE CONTROL OF AN ASSISTIVE ROBOTIC ARM FOR SHARED AUTONOMY IMPLEMENTATION

Abstract

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.