First try of MPC on MPI CyberMotion simulator

Mikhail Katliar

TU Tübingen

Friday, October 30, 2015, 11:00 - 11:45

Room 02-012, Georges-Köhler Allee 102, Freiburg 79110, Germany

An MPC-based controller for a 8-DoF motion simulator at Max-Planck Institute for Biological Cybernetics based on a sequential robot (MPI CyberMotion was run for a first time. To simplify testing and achieve reasonable performance, only one degree of freedom was used. A sinusoidal acceleration profile was commanded and simulator axes positions and velocities as well as real platform acceleration were measured. The implementation and stability issues are discussed.