High-Frequency Nonlinear Model Predictive Control of a Manipulator

7 April 2023

02:43

This paper presents the first hardware implementation of closed-loop nonlinear MPC on a 7-DoF torque-controlled robot. Our controller leverages a state-of-the art optimal control solver, namely Differential Dynamic Programming (DDP), in order to replan state and control trajectories at real-time rates (1kHz).