Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots Topics: Industrial Automation and Robotics; Modeling, Simulation and Architecture; Robot Design, Development and Control; Systems Modeling and Simulation; Systems Modeling and Simulation In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 71-80, 2018 , Porto, Portugal