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: | |
% 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={https://old.control.ee.ethz.ch/index.cgi?page=publications;action=details;id=273}
} | |