@article{eprints496,
          author = {Alberto Bemporad and Tzyh-Jong Tarn and Ning Xi},
          volume = {7},
         journal = {IEEE Transactions on Control Systems Technology},
           pages = {648--656},
       publisher = {IEEE},
           title = {Predictive path parameterization for constrained robot control},
          number = {6},
            year = {1999},
           month = {November},
             url = {http://eprints.imtlucca.it/496/},
        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},
        keywords = {Acceleration; Error correction; Feedback; Motion control;  Motion planning; Robot control; Robot motion; Torque; Trajectory; Voltage}
}