Open access
Jul 2026
Uncertainty-Aware Trajectory Planning and Nonlinear Model Predictive Control for Non-Prehensile Robotic Manipulation
A dual-layered computational framework for the robust trajectory planning and active stabilization of a robotic manipulator transporting a non-fixed payload and an active sliding control strategy based on Nonlinear Model Predictive Control are presented.
Sara Federico, Ciro Natale, Fabio Ruggiero et al.
· Machines · 0 citations