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Predictive path parameterization for constrained robot control

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3 Author(s)
A. Bemporad ; Autom. Control Lab., Swiss Fed. Inst. of Technol., Zurich, Switzerland ; Tzyh-Jong Tarn ; Ning Xi

For robotic systems tracking a given geometric path, the 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 a path governor generates online 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

Published in:

IEEE Transactions on Control Systems Technology  (Volume:7 ,  Issue: 6 )