High-Frequency Nonlinear Model Predictive Control of a Manipulator

This paper presents the first hardware implementation of
closed-loop nonlinear MPC on a 7-DoF torque-controlled robot.
Our controller leverages a state-of-the art optimal control
solver, namely Differential Dynamic Programming (DDP), in
order to replan state and control trajectories at real-time rates
(1kHz).

Видео High-Frequency Nonlinear Model Predictive Control of a Manipulator канала Machines in Motion Laboratory