relation: http://eprints.imtlucca.it/496/
title: Predictive path parameterization for constrained robot control
creator: Bemporad, Alberto
creator: Tarn, Tzyh-Jong
creator: Xi, Ning
subject: QA Mathematics
subject: QA75 Electronic computers. Computer science
description: 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
publisher: IEEE
date: 1999-11
type: Article
type: PeerReviewed
identifier:   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)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=799665&isnumber=17379
relation: 10.1109/87.799665