relation: http://eprints.imtlucca.it/599/
title: On-line path parameterization for manipulators with input/state constraints
creator: Bemporad, Alberto
creator: Tarn, Tzyh-Jong
subject: QA75 Electronic computers. Computer science
subject: TJ Mechanical engineering and machinery
description: This paper addresses the problem of satisfying input/state constraints for robotic systems tracking a given geometric path. According to a prediction of the evolution of the robot from the current state, a discrete-time device called {em Path Governor} (PG) generates on line a suitable time-parameterization of the path to be tracked, by solving at fixed intervals a constrained scalar optimization problem. Higher level switching commands are also taken into account by simply associating a different optimization criterion to each mode of operation.
publisher: IEEE/ASME
date: 1997
type: Book Section
type: PeerReviewed
identifier:   Bemporad, Alberto and Tarn, Tzyh-Jong  On-line path parameterization for manipulators with input/state constraints.   In:  International Conference on Advanced Intelligent Mechatronics.   IEEE/ASME, p. 91.       (1997)  
relation: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=652957&isnumber=14224
relation: 10.1109/AIM.1997.652957