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On-line path parameterization for manipulators with input/state constraints

Author(s):

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

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Tokyo, Japan
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.

Further Information
Year:

1997
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { BemTar:1997:IFA_409,
    author={A. Bemporad and T.J. Tarn},
    title={{On-line path parameterization for manipulators with
	  input/state constraints}},
    booktitle={IEEE/ASME International Conference on Advanced Intelligent
	  Mechatronics},
    pages={},
    year={1997},
    address={Tokyo, Japan},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=409}
}
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