%0 Journal Article
%@ 1063-6536
%A Bemporad, Alberto
%A Tarn, Tzyh-Jong
%A Xi, Ning
%D 1999
%F eprints:496
%I IEEE
%J IEEE Transactions on Control Systems Technology
%K Acceleration; Error correction; Feedback; Motion control;  Motion planning; Robot control; Robot motion; Torque; Trajectory; Voltage
%N 6
%P 648-656
%T Predictive path parameterization for constrained robot control
%U http://eprints.imtlucca.it/496/
%V 7
%X 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