Sanzhar Kusdavletov

Safety-Aware Nonlinear Model Predictive Control for Physical Human-Robot Interaction

This letter proposes a nonlinear model predictive control (NMPC) approach for real-time planning of point-to-point motions of serial robot manipulators that share their workspace with a human. The NMPC law solves a nonlinear program online, based on a kinematic model, and guarantees safety by constr