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Article: Predictive path parameterization for constrained robot control
Title | Predictive path parameterization for constrained robot control |
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Authors | |
Keywords | Saturation Robots Path parameterization Optimization methods On-line time-scaling Model predictive control Constraints |
Issue Date | 1999 |
Citation | IEEE Transactions on Control Systems Technology, 1999, v. 7, n. 6, p. 648-656 How to Cite? |
Abstract | For robotic systems tracking a given geometric path, this paper addresses the problem of satisfying input and state constraints. According to a prediction of the evolution of the robot from the current state, a discrete-time device called 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 three-degree-of-freedom PUMA 560 manipulator subject to absolute position error, Cartesian velocity, and motor voltage constraints. © 1999 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/212703 |
ISSN | 2023 Impact Factor: 4.9 2023 SCImago Journal Rankings: 2.193 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Bemporad, Alberto | - |
dc.contributor.author | Tarn, Tzyh Jong | - |
dc.contributor.author | Xi, Ning | - |
dc.date.accessioned | 2015-07-28T04:04:45Z | - |
dc.date.available | 2015-07-28T04:04:45Z | - |
dc.date.issued | 1999 | - |
dc.identifier.citation | IEEE Transactions on Control Systems Technology, 1999, v. 7, n. 6, p. 648-656 | - |
dc.identifier.issn | 1063-6536 | - |
dc.identifier.uri | http://hdl.handle.net/10722/212703 | - |
dc.description.abstract | For robotic systems tracking a given geometric path, this paper addresses the problem of satisfying input and state constraints. According to a prediction of the evolution of the robot from the current state, a discrete-time device called 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 three-degree-of-freedom PUMA 560 manipulator subject to absolute position error, Cartesian velocity, and motor voltage constraints. © 1999 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE Transactions on Control Systems Technology | - |
dc.subject | Saturation | - |
dc.subject | Robots | - |
dc.subject | Path parameterization | - |
dc.subject | Optimization methods | - |
dc.subject | On-line time-scaling | - |
dc.subject | Model predictive control | - |
dc.subject | Constraints | - |
dc.title | Predictive path parameterization for constrained robot control | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/87.799665 | - |
dc.identifier.scopus | eid_2-s2.0-0033221957 | - |
dc.identifier.volume | 7 | - |
dc.identifier.issue | 6 | - |
dc.identifier.spage | 648 | - |
dc.identifier.epage | 656 | - |
dc.identifier.isi | WOS:000083432200003 | - |
dc.identifier.issnl | 1063-6536 | - |