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Feedback Control vs Predictive Control

Demonstrating the performance of feedback control versus predictive control for tracking a moving target using a UR3 manipulator. A Blackfly S camera (BFS-U3-16S2C-CS) is used to observe the augmented reality (AR) markers. The camera runs at approximately 112 frames per second. The ar_track_alvar package in Robot Operating System (ROS) is used to detect the markers and determine pose of the board relative to the robot. The motion of the target is predicted through time-series forecasting. I wrote my own package to control the robot. Thanks to Clyde Webster and Sheila Sutjipto for their assistance!