# Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot

arXiv: https://arxiv.org/abs/1506.09084 · HTML: https://mlsanity.com/paper/1506.09084/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Jun 2015.

## Built on by (most cited first, 1 of 1)

- [Learning Time-optimized Path Tracking with or without Sensory Feedback](https://mlsanity.com/paper/2203.01968/) (2022)

## Abstract (arXiv)

Many robotic applications, such as milling, gluing, or high precision measurements, require the exact following of a pre-defined geometric path. In this paper, we investigate the real-time feasible implementation of model predictive path-following control for an industrial robot. We consider constrained output path following with and without reference speed assignment. We present results from an implementation of the proposed model predictive path-following controller on a KUKA LWR IV robot.