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Predictive path parameterization for constrained robot control
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DOI：10.1109/87.799665.png)
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Abstract
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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.
Keywords:
constraints
model predictive control
on-line time-scaling
optimization methods
path parameterization
robots
saturation
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