%P 91
%J IEEE/ASME International Conference on Advanced Intelligent Mechatronics ?97
%T On-line path parameterization for manipulators with input/state constraints
%R 10.1109/AIM.1997.652957
%B International Conference on Advanced Intelligent Mechatronics 
%D 1997
%A Alberto Bemporad
%A Tzyh-Jong Tarn
%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.
%L eprints599
%I IEEE/ASME