<> "The repository administrator has not yet configured an RDF license."^^ . <> . . . "Predictive path parameterization for constrained robot control"^^ . "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"^^ . "1999-11" . "7" . "6" . . "IEEE"^^ . . . "IEEE Transactions on Control Systems Technology"^^ . . . "10636536" . . . . . . . . . . . . . "Alberto"^^ . "Bemporad"^^ . "Alberto Bemporad"^^ . . "Ning"^^ . "Xi"^^ . "Ning Xi"^^ . . "Tzyh-Jong"^^ . "Tarn"^^ . "Tzyh-Jong Tarn"^^ . . . . . "HTML Summary of #496 \n\nPredictive path parameterization for constrained robot control\n\n" . "text/html" . . . "QA Mathematics"@en . . . "QA75 Electronic computers. Computer science"@en . .