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dc.contributor.author | Solanes Galbis, Juan Ernesto | es_ES |
dc.contributor.author | Gracia Calandin, Luis Ignacio | es_ES |
dc.contributor.author | Muñoz-Benavent, Pau | es_ES |
dc.contributor.author | Valls Miro, Jaime | es_ES |
dc.contributor.author | Perez-Vidal, Carlos | es_ES |
dc.contributor.author | Tornero Montserrat, Josep | es_ES |
dc.date.accessioned | 2019-03-03T21:07:21Z | |
dc.date.available | 2019-03-03T21:07:21Z | |
dc.date.issued | 2019 | es_ES |
dc.identifier.issn | 1087-1357 | es_ES |
dc.identifier.uri | http://hdl.handle.net/10251/117576 | |
dc.description.abstract | [EN] This work presents a hybrid position-force control of robots for surface polishing using task priority. The robot force control is designed using sliding mode ideas in order to benefit from its inherent robustness and low computational cost. In order to avoid the chattering drawback typically present in sliding mode control, several chattering-free controllers are evaluated and tested. A distinctive feature of the method is that the sliding mode force task is defined using not only equality constraints but also inequality constraints, which are satisfied using conventional and nonconventional sliding mode control, respectively. Moreover, a lower priority tracking controller is defined to follow the desired reference trajectory on the surface being polished. The applicability and the effectiveness of the proposed approach considering the mentioned chattering-free controllers are substantiated by experimental results using a redundant 7R manipulator. | es_ES |
dc.description.sponsorship | Spanish Government, Agencia Estatal de Investigacion (DPI2017-87656-C2-1-R). Generalitat Valenciana, Conselleria d'Educacion, Investigacion, Cultura i Esport (VALi+d APOSTD/2016/044). | |
dc.language | Inglés | es_ES |
dc.publisher | ASME International | es_ES |
dc.relation.ispartof | Journal of Manufacturing Science and Engineering | es_ES |
dc.rights | Reserva de todos los derechos | es_ES |
dc.subject.classification | INGENIERIA DE SISTEMAS Y AUTOMATICA | es_ES |
dc.title | Robust Hybrid Position-Force Control for Robotic Surface Polishing | es_ES |
dc.type | Artículo | es_ES |
dc.identifier.doi | 10.1115/1.4041836 | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2017-87656-C2-1-R/ES/VISION ARTIFICIAL Y ROBOTICA COLABORATIVA EN PULIDO DE SUPERFICIES EN LA INDUSTRIA/ | es_ES |
dc.relation.projectID | info:eu-repo/grantAgreement/GVA//APOSTD%2F2016%2F044/ | es_ES |
dc.rights.accessRights | Abierto | es_ES |
dc.contributor.affiliation | Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica | es_ES |
dc.description.bibliographicCitation | Solanes Galbis, JE.; Gracia Calandin, LI.; Muñoz-Benavent, P.; Valls Miro, J.; Perez-Vidal, C.; Tornero Montserrat, J. (2019). Robust Hybrid Position-Force Control for Robotic Surface Polishing. Journal of Manufacturing Science and Engineering. 141(1):1-14. https://doi.org/10.1115/1.4041836 | es_ES |
dc.description.accrualMethod | S | es_ES |
dc.relation.publisherversion | http://doi.org/10.1115/1.4041836 | es_ES |
dc.description.upvformatpinicio | 1 | es_ES |
dc.description.upvformatpfin | 14 | es_ES |
dc.type.version | info:eu-repo/semantics/publishedVersion | es_ES |
dc.description.volume | 141 | es_ES |
dc.description.issue | 1 | es_ES |
dc.relation.pasarela | S\373934 | es_ES |
dc.contributor.funder | Generalitat Valenciana | es_ES |
dc.contributor.funder | Agencia Estatal de Investigación | es_ES |