{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,4,3]],"date-time":"2025-04-03T07:44:27Z","timestamp":1743666267951,"version":"3.37.3"},"reference-count":31,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2018,7,23]],"date-time":"2018-07-23T00:00:00Z","timestamp":1532304000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010661","name":"Horizon 2020 Framework Programme","doi-asserted-by":"publisher","award":["H2020-CS2-738039"],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"Recent advances in planning and control of robot manipulators make an increasing use of optimization-based techniques, such as model predictive control. In this framework, ensuring the feasibility of the online optimal control problem is a key issue. In the case of manipulators with bounded joint positions, velocities, and accelerations, feasibility can be guaranteed by limiting the set of admissible velocities and positions to a viable set. However, this results in the imposition of nonlinear optimization constraints. In this paper, we analyze the feasibility of the optimal control problem and we propose a method to construct a viable convex polyhedral that ensures feasibility of the optimal control problem by means of a given number of linear constraints. Experimental and numerical results on an industrial manipulator show the validity of the proposed approach.<\/jats:p>","DOI":"10.3390\/robotics7030041","type":"journal-article","created":{"date-parts":[[2018,7,24]],"date-time":"2018-07-24T06:58:56Z","timestamp":1532415536000},"page":"41","source":"Crossref","is-referenced-by-count":11,"title":["Viability and Feasibility of Constrained Kinematic Control of Manipulators"],"prefix":"10.3390","volume":"7","author":[{"given":"Marco","family":"Faroni","sequence":"first","affiliation":[{"name":"Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, 25123 Brescia, Italy"}]},{"given":"Manuel","family":"Beschi","sequence":"additional","affiliation":[{"name":"Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, National Research Council, Via Alfonso Corti 12, 20133 Milano, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1610-001X","authenticated-orcid":false,"given":"Nicola","family":"Pedrocchi","sequence":"additional","affiliation":[{"name":"Istituto di Sistemi e Tecnologie Industriali Intelligenti per il Manifatturiero Avanzato, National Research Council, Via Alfonso Corti 12, 20133 Milano, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9246-5715","authenticated-orcid":false,"given":"Antonio","family":"Visioli","sequence":"additional","affiliation":[{"name":"Dipartimento di Ingegneria Meccanica e Industriale, University of Brescia, Via Branze 38, 25123 Brescia, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"2318","DOI":"10.1109\/TAC.2009.2028959","article-title":"Time-Optimal Path Tracking for Robots: A Convex Optimization Approach","volume":"54","author":"Verscheure","year":"2009","journal-title":"IEEE Trans. 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