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About this paper
Chonghao Cheng, Tiancheng Li, Jonathan Woolfrey, Liang Zhao, Shoudong Huang
MR-MPCC lets a robot tracing a path in a moving reference frame adjust its progress instead of obeying a fixed timetable. Its controller optimizes contouring error and along-path lag, while a constrained layer converts motion commands to joint velocities. In matched UR5e simulations, contouring-error RMSE was 5.526 mm versus 6.051 mm for tracking MPC, but peak error was not lower.
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