Manipulator Trajectory Tracking and Force Compliance Control Based on Model Predictive Control

The pillar shaping work of solid rocket motors involves complex trajectory tracking and force control problems, which are dangerous by manual operation. In this paper, a position control method based on MPC is proposed, and the admittance control is used to realize the local compliance of the manipulator contact force. In the numerical simulation, the control manipulator tracks a given trajectory and the manipulator shows suppleness in contact with the environment in the presence of external forces. Simulations were conducted to compare the MPC control method based on the improved computational torque control with the conventional PID method, with the fastest reduction of 0.34s in the regulation time and up to 0.165 rad in the overshoot.