%0 Book Section
%A Bemporad, Alberto
%A Tarn, Tzyh-Jong
%B International Conference on Advanced Intelligent Mechatronics 
%D 1997
%F eprints:599
%I IEEE/ASME
%P 91
%T On-line path parameterization for manipulators with input/state constraints
%U http://eprints.imtlucca.it/599/
%X 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.