eprintid: 599
rev_number: 9
eprint_status: archive
userid: 7
dir: disk0/00/00/05/99
datestamp: 2011-07-27 09:20:28
lastmod: 2014-07-16 14:09:27
status_changed: 2011-07-27 09:20:28
type: book_section
metadata_visibility: show
item_issues_count: 0
creators_name: Bemporad, Alberto
creators_name: Tarn, Tzyh-Jong
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: On-line path parameterization for manipulators with input/state constraints
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
abstract: 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.
date: 1997
date_type: published
publication: IEEE/ASME International Conference on Advanced Intelligent Mechatronics �97
publisher: IEEE/ASME
pagerange: 91
id_number: 10.1109/AIM.1997.652957
refereed: TRUE
book_title: International Conference on Advanced Intelligent Mechatronics 
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=652957&isnumber=14224
citation:   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)