A model predictive controller(MPC) is designed to solve the problem of trajectory tracking. Each joints of the robotic arm would generate the trajectory between its current angles to the desired angles. The desired angles for each joints is obtained from the Inverse Kinematics solved for 4DOF via Optimization. The overall cost function for MPC problem includes the cost function corresponding to tracking error as well as change in inputs.
Bikash9841/Model_Predictive_Control-For-Robotic-Arm
model predictive control design for 4DOF robotic arm
Python