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Cooperative transport tasks with robots using adaptive non-conventional sliding mode control

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Cooperative transport tasks with robots using adaptive non-conventional sliding mode control

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dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Solanes Galbis, Juan Ernesto es_ES
dc.contributor.author Muñoz-Benavent, Pau es_ES
dc.contributor.author Esparza Peidro, Alicia es_ES
dc.contributor.author Valls Miro, Jaime es_ES
dc.contributor.author Tornero Montserrat, Josep es_ES
dc.date.accessioned 2020-06-03T05:52:50Z
dc.date.available 2020-06-03T05:52:50Z
dc.date.issued 2018-09 es_ES
dc.identifier.issn 0967-0661 es_ES
dc.identifier.uri http://hdl.handle.net/10251/145107
dc.description.abstract [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. es_ES
dc.description.sponsorship 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. es_ES
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation GV/BEST/2017/029 es_ES
dc.relation GENERALITAT VALENCIANA/APOSTD/2016/044 es_ES
dc.relation 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.ispartof Control Engineering Practice es_ES
dc.rights Reconocimiento - No comercial - Sin obra derivada (by-nc-nd) es_ES
dc.subject Cooperative task,Robot system,Force control,Sliding mode control es_ES
dc.subject.classification ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Cooperative transport tasks with robots using adaptive non-conventional sliding mode control es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.conengprac.2018.06.005 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 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 es_ES
dc.description.accrualMethod S es_ES
dc.relation.publisherversion https://doi.org/10.1016/j.conengprac.2018.06.005 es_ES
dc.description.upvformatpinicio 35 es_ES
dc.description.upvformatpfin 55 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 78 es_ES
dc.relation.pasarela S\373636 es_ES
dc.contributor.funder Generalitat Valenciana es_ES
dc.contributor.funder Agencia Estatal de Investigación es_ES


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