Fig 1.
Proposed UKF-MPC based operation of Robotic arm.
Fig 2.
MPC Prediction Model.
Fig 3.
MPC Rolling Optimization Model.
Fig 4.
MPC Feedback Correction Model.
Fig 5.
Proposed layered energy-saving MPC for robotic arm operation.
Table 1.
Hierarchical architecture of proposed MPC for robotic arm.
Fig 6.
Trajectory estimation and filtering results in a simulated environment (a) using UKF (b) Comparative plot of the reference trajectory and UKF.
Fig 7.
The unfiltered trajectory computed without any filtering algorithm.
Fig 8.
3D trajectory tracking of the robotic arm’s end-effector in Cartesian space.
Fig 9.
Visualization of the robotic arm’s end-effector (EE) path over a 3D peak cost field.
Fig 10.
Joint accelerations during trajectory tracking.
Fig 11.
Comparison of desired and actual joint angles.
Fig 12.
Predicted joint accelerations during motion.
Table 2.
Summary of performance reported in recent literature compared to this work (non-standardized).