Expanding Motion Programs under Input Constraints.

We explore the effect that bounded inputs have when we specifying sequences of control laws for driving a linear, dynamical system through intermediary equilibrium points. These sequences, given in the Motion Description Language (MDL) formalism, may not be feasible in that they may violate the bounded input constraints. To overcome this problem, we augment the MDL sequences by inserting extra control modes, resulting in a new motion program that does in fact satisfy the input constraints. We first consider the problem of “compiling” the motion program for feasibility, and then propose a method that constructs new motion programs based on the input bounds, system dynamics, and task design goals.