eprintid: 496
rev_number: 10
eprint_status: archive
userid: 7
dir: disk0/00/00/04/96
datestamp: 2011-07-27 09:16:44
lastmod: 2014-07-16 14:19:56
status_changed: 2011-07-27 09:16:44
type: article
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: Tarn, Tzyh-Jong
creators_name: Xi, Ning
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
creators_id: 
title: Predictive path parameterization for constrained robot control
ispublished: pub
subjects: QA
subjects: QA75
divisions: CSA
full_text_status: none
keywords: Acceleration; Error correction; Feedback; Motion control;  Motion planning; Robot control; Robot motion; Torque; Trajectory; Voltage
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
date: 1999-11
date_type: published
publication: IEEE Transactions on Control Systems Technology
volume: 7
number: 6
publisher: IEEE
pagerange: 648-656
id_number: 10.1109/87.799665
refereed: TRUE
issn: 1063-6536
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=799665&isnumber=17379
citation:   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)