Catalogo Articoli (Spogli Riviste)

OPAC HELP

Titolo:
Predictive path parameterization for constrained robot control
Autore:
Bemporad, A; Tarn, TJ; Xi, N;
Indirizzi:
Swiss Fed Inst Technol, Automat Control Lab, CH-8092 Zurich, Switzerland Swiss Fed Inst Technol Zurich Switzerland CH-8092 92 Zurich, Switzerland Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA Washington Univ St Louis MO USA 63130 Sci & Math, St Louis, MO 63130 USA Michigan State Univ, Dept Elect Engn, E Lansing, MI 48824 USA Michigan State Univ E Lansing MI USA 48824 Engn, E Lansing, MI 48824 USA Univ Siena, Dept Informat Engn, I-53100 Siena, Italy Univ Siena Siena Italy I-53100 Dept Informat Engn, I-53100 Siena, Italy
Titolo Testata:
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
fascicolo: 6, volume: 7, anno: 1999,
pagine: 648 - 656
SICI:
1063-6536(199911)7:6<648:PPPFCR>2.0.ZU;2-H
Fonte:
ISI
Lingua:
ENG
Soggetto:
NONLINEAR-SYSTEMS; LINEAR-SYSTEMS; MANIPULATORS; TRAJECTORIES;
Keywords:
constraints; model predictive control; on-line time-scaling; optimization methods; path parameterization; robots; saturation;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
24
Recensione:
Indirizzi per estratti:
Indirizzo: Bemporad, A Swiss Fed Inst Technol, Automat Control Lab, CH-8092 Zurich, Switzerland Swiss Fed Inst Technol Zurich Switzerland CH-8092 witzerland
Citazione:
A. Bemporad et al., "Predictive path parameterization for constrained robot control", IEEE CON SY, 7(6), 1999, pp. 648-656

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-timedevice 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.

ASDD Area Sistemi Dipartimentali e Documentali, Università di Bologna, Catalogo delle riviste ed altri periodici
Documento generato il 28/11/20 alle ore 21:42:26