The growing number of collaborative robotics in unstructured environments creates highly nonconvex nonlinear shared dynamical systems. For safety and speed, path planning and collision avoidance are of the utmost importance in these situations. We present a novel nonlinear MPC solution for use on a three-dimensional four-axis robotic manipulator. The system is the first of it's kind to take into account moving obstacles. Using the OpEn framework, optimisation is done by the PANOC and ALM techniques. Experimentation demonstrates extremely fast solver times on both PC and embedded platforms.

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Grasping between two cooperating robotic arms with a friction grip acting orthogonally to the surface to overcome tangential forces presents the matter of slip control. Modern smart collaborative robots have built-in joint torque sensing capability which prevents the need for additional external sensors when detecting slip, vital to create a feedback signal for slip control. This paper presents the preliminary findings of experimentation on a Baxter robot to investigate if these built-in torque sensors can be utilized for this purpose. The left shoulder joint torque values of the Baxter robot, S1, are recorded with and without slip taking place. Frequency domain analysis of both scenarios reveals differences in frequency components, showing that there is a substantial increase in magnitude from the 1.5 to 12 Hz range. A high-pass IIR filter is then applied to successfully identify slip in the time-domain, proving that it is a viable method for slip detection in real-time