TY  - JOUR
IS  - 6
VL  - 7
PB  - IEEE
EP  - 656
N2  - 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
KW  - Acceleration; Error correction; Feedback; Motion control;  Motion planning; Robot control; Robot motion; Torque; Trajectory; Voltage
JF  - IEEE Transactions on Control Systems Technology
Y1  - 1999/11//
A1  - Bemporad, Alberto
A1  - Tarn, Tzyh-Jong
A1  - Xi, Ning
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=799665&isnumber=17379
TI  - Predictive path parameterization for constrained robot control
SN  - 1063-6536
AV  - none
ID  - eprints496
SP  - 648
ER  -