TY  - CHAP
T2  - International Conference on Advanced Intelligent Mechatronics 
A1  - Bemporad, Alberto
A1  - Tarn, Tzyh-Jong
Y1  - 1997///
PB  - IEEE/ASME
N2  - 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.
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=652957&isnumber=14224
TI  - On-line path parameterization for manipulators with input/state constraints
ID  - eprints599
AV  - none
ER  -