Publicaties
A generalization of the Riccati recursion for equality-constrained linear quadratic optimal control KU Leuven
IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment KU Leuven
We present IMPACT, a flexible toolchain for nonlinear model predictive control (NMPC) specification with automatic code generation capabilities. The toolchain reduces the engineering complexity of NMPC implementations by providing the user with an easy-to-use application programming interface, and with the flexibility of using multiple state-of-the-art tools and numerical optimization solvers for rapid prototyping of NMPC solutions. IMPACT is ...
The Need for Task-Specific Execution in Robot Manipulation: Skill Design for Energy-Efficient Control KU Leuven
Many pick-and-place tasks do not require accurate position tracking throughout the whole motion, e.g. (de)palletising. However, most solutions still use a stiff industrial robot with a position controller that is overqualified for such tasks. This paper proposes to use task-specific robots and control methods to lower the hardware and energy costs. The task requirements are explicitly expressed and performed through a skill-based abstraction ...
Shape-based path adaptation and simulation-based velocity optimization of initial tool trajectories for robotic spray painting KU Leuven
Automatic path planners in robotic spray painting aim to generate trajectories for the paint gun based on a paint deposition model and a model of the object’s surface. Current path planners often ignore shadowing effects and are therefore limited to regular surfaces with low curvatures. In addition, a robot model is typically not included so that executability is not ensured. This paper proposes a novel path planner which (1) spatially adapts ...