ResearchBenchmarksSafe Control on Kinova-Gen3 3D Space Single ObstacleSafe Control on Kinova-Gen3 3D Space Single ObstacleFollow0.0052Average Computation Time (s)LTIMPC-0.0111060.0988920.208890.318888Mar 4, 2026Evaluation resultsMethodMethodLinksAverage Computation Time (s)LTIMPC2026.030.0052KMPC2026.030.0097LTVMPC2026.030.015NMPCHorizon=10Horizon=102026.030.0405NMPCHorizon=100Horizon=1002026.030.4126