Gracia Calandin, LI.; Solanes Galbis, JE.; Muñoz-Benavent, P.; Esparza Peidro, A.; Valls Miro, J.; Tornero Montserrat, J. (2018). Cooperative transport tasks with robots using adaptive non-conventional sliding mode control. Control Engineering Practice. 78:35-55. https://doi.org/10.1016/j.conengprac.2018.06.005
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/145107
Title:
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Cooperative transport tasks with robots using adaptive non-conventional sliding mode control
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Author:
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Gracia Calandin, Luis Ignacio
Solanes Galbis, Juan Ernesto
Muñoz-Benavent, Pau
Esparza Peidro, Alicia
Valls Miro, Jaime
Tornero Montserrat, Josep
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UPV Unit:
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Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
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Issued date:
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Abstract:
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[EN] This work presents a hybrid position/force control of robots aimed at handling applications using multi-task and sliding mode ideas. The proposed robot control is based on a novel adaptive non-conventional sliding ...[+]
[EN] This work presents a hybrid position/force control of robots aimed at handling applications using multi-task and sliding mode ideas. The proposed robot control is based on a novel adaptive non-conventional sliding mode control used to robustly satisfy a set of inequality constraints defined to accomplish the cooperative transport task. In particular, these constraints are used to guarantee the reference parameters imposed by the task (e.g., keeping the load at a desired orientation) and to guide the robot using the human operator's forces detected by a force sensor located at the robot tool. Another feature of the proposal is the multi-layered nature of the strategy, where a set of four tasks are defined with different priorities. The effectiveness of the proposed adaptive non-conventional sliding mode control is illustrated by simulation results. Furthermore, the applicability and feasibility of the proposed robot control for transport tasks are substantiated by experimental results using a redundant 7R manipulator.
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Subjects:
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Cooperative task,Robot system,Force control,Sliding mode control
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Copyrigths:
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Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
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Source:
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Control Engineering Practice. (issn:
0967-0661
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DOI:
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10.1016/j.conengprac.2018.06.005
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Publisher:
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Elsevier
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Publisher version:
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https://doi.org/10.1016/j.conengprac.2018.06.005
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Project ID:
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info:eu-repo/grantAgreement/GVA//BEST%2F2017%2F029/
info:eu-repo/grantAgreement/GVA//APOSTD%2F2016%2F044/
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/
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Thanks:
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This work was supported in part by the Spanish Government under Project DPI2017-87656-C2-1-R, and the Generalitat Valenciana under Grants VALi + d APOSTD/2016/044 and BEST/2017/029.
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Type:
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Artículo
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