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Article: Predictive path parameterization for constrained robot control

TitlePredictive path parameterization for constrained robot control
Authors
KeywordsSaturation
Robots
Path parameterization
Optimization methods
On-line time-scaling
Model predictive control
Constraints
Issue Date1999
Citation
IEEE Transactions on Control Systems Technology, 1999, v. 7, n. 6, p. 648-656 How to Cite?
AbstractFor 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 Identifierhttp://hdl.handle.net/10722/212703
ISSN
2015 Impact Factor: 2.818
2015 SCImago Journal Rankings: 2.986

 

DC FieldValueLanguage
dc.contributor.authorBemporad, Alberto-
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:04:45Z-
dc.date.available2015-07-28T04:04:45Z-
dc.date.issued1999-
dc.identifier.citationIEEE Transactions on Control Systems Technology, 1999, v. 7, n. 6, p. 648-656-
dc.identifier.issn1063-6536-
dc.identifier.urihttp://hdl.handle.net/10722/212703-
dc.description.abstractFor 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.languageeng-
dc.relation.ispartofIEEE Transactions on Control Systems Technology-
dc.subjectSaturation-
dc.subjectRobots-
dc.subjectPath parameterization-
dc.subjectOptimization methods-
dc.subjectOn-line time-scaling-
dc.subjectModel predictive control-
dc.subjectConstraints-
dc.titlePredictive path parameterization for constrained robot control-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/87.799665-
dc.identifier.scopuseid_2-s2.0-0033221957-
dc.identifier.volume7-
dc.identifier.issue6-
dc.identifier.spage648-
dc.identifier.epage656-

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