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Predictive path parameterization for constrained robot control

Bemporad, Alberto and Tarn, Tzyh-Jong and Xi, Ning Predictive path parameterization for constrained robot control. IEEE Transactions on Control Systems Technology, 7 (6). pp. 648-656. ISSN 1063-6536 (1999)

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For robotic systems tracking a given geometric path, the paper addresses the problem of satisfying input and state constraints. According to a prediction of the evolution of the robot from the current state, a discrete-time device called a path governor generates online a suitable time-parameterization of the path to be tracked, by solving at fixed intervals a constrained scalar look-ahead optimization problem. Higher level switching commands are also taken into account by simply associating a different optimization criterion to each mode of operation. Experimental results are reported for a three-degree-of-freedom PUMA 560 manipulator subject to absolute position error, Cartesian velocity, and motor voltage constraints

Item Type: Article
Identification Number: 10.1109/87.799665
Uncontrolled Keywords: Acceleration; Error correction; Feedback; Motion control; Motion planning; Robot control; Robot motion; Torque; Trajectory; Voltage
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:16
Last Modified: 16 Jul 2014 14:19
URI: http://eprints.imtlucca.it/id/eprint/496

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