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This paper uses Model Predictive Control (MPC) to optimise the input torquesof a Three-Degrees-of-Freedom (DOF) robotic arm, enabling it to operate to thetarget position and grasp the object accurately. A monocular camera is firstlyused to recognise the colour and depth of the object. Then, the inversekinematics calculation and the spatial coordinates of the object throughcoordinate transformation are combined to get the required rotating angle ofeach servo. Finally, the dynamic model of the robotic arm structure is derivedand the model predictive control is applied to simulate the optimal inputtorques of servos to minimize the cost function.

Model Predictive Control Design of a 3-DOF Robot Arm Based on Recognition of Spatial Coordinates