MR-MPCC: Model Predictive Contouring Control for Robotic Manipulator Tracking under Moving Reference Frames
MR-MPCC is a control framework for robotic arms that tracks paths even when they move relative to the robot. It uses Model Predictive Contouring Control (MPCC) to separate path following from contouring errors, allowing it to maintain high geometric accuracy under moving reference disturbances, outperforming traditional time-indexed controllers.