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Predictive path parameterization for constrained robot control

Author(s):

A. Bemporad, T.J. Tarn, N. Xi
Conference/Journal:

IEEE Transactions on Control Systems Technology, vol. 7, no. 6, pp. 648-656
Abstract:

For robotic systems tracking a given geometric path, this paper addresses the problem of satisfying input/state constraints. 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 look-ahead optimization problem. Higher level switching commands are also taken into account by simply associating a different optimization criterion to each mode of operation. Experimental results are reported for a 3-DOF PUMA 560 manipulator subject to absolute position error, Cartesian velocity, and motor voltage constraints.

Year:

1999
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@Article { BemTar:1999:IFA_273,
    author={A. Bemporad and T.J. Tarn and N. Xi},
    title={{Predictive path parameterization for constrained robot
	  control}},
    journal={IEEE Transactions on Control Systems Technology},
    year={1999},
    volume={7},
    number={6},
    pages={648--656},
    month=nov,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=273}
}
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