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)

## Abstract

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 |
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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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