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On-line path parameterization for manipulators with input/state constraints

Bemporad, Alberto and Tarn, Tzyh-Jong On-line path parameterization for manipulators with input/state constraints. In: International Conference on Advanced Intelligent Mechatronics. IEEE/ASME, p. 91. (1997)

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This paper addresses the problem of satisfying input/state constraints for robotic systems tracking a given geometric path. According to a prediction of the evolution of the robot from the current state, a discrete-time device called {em Path Governor} (PG) generates on line a suitable time-parameterization of the path to be tracked, by solving at fixed intervals a constrained scalar optimization problem. Higher level switching commands are also taken into account by simply associating a different optimization criterion to each mode of operation.

Item Type: Book Section
Identification Number: 10.1109/AIM.1997.652957
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:20
Last Modified: 16 Jul 2014 14:09
URI: http://eprints.imtlucca.it/id/eprint/599

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