Gracia Calandin, LI.; Garelli, F.; Sala Piqueras, A. (2013). Integrated sliding-mode algorithms in robot tracking applications. Robotics and Computer-Integrated Manufacturing. 29(1):53-62. https://doi.org/10.1016/j.rcim.2012.07.007
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/49992
Title:
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Integrated sliding-mode algorithms in robot tracking applications
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Author:
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Gracia Calandin, Luis Ignacio
Garelli, Fabricio
Sala Piqueras, Antonio
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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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An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in ...[+]
An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. The proposed method only requires a few program lines and simplifies the robot user interface since it directly deals with the fulfillment of the constraints to find a feasible solution for the robot trajectory tracking in a short computation time. The proposed approach is evaluated in simulation on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.
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Subjects:
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Sliding mode
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Robot control
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Collision avoidance
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Copyrigths:
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Reserva de todos los derechos
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Source:
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Robotics and Computer-Integrated Manufacturing. (issn:
0736-5845
)
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DOI:
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10.1016/j.rcim.2012.07.007
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Publisher:
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Elsevier
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Publisher version:
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http://dx.doi.org/10.1016/j.rcim.2012.07.007
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Project ID:
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info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/
...[+]
info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/
info:eu-repo/grantAgreement/UPV//PAID-05-11-2640/
info:eu-repo/grantAgreement/UPV//PAID-00-12-SP20120159/
info:eu-repo/grantAgreement/CONICET//PIP 112-2011-00361/
info:eu-repo/grantAgreement/ANPCyT//PICT-2011-0888/AR/Sistemas conmutados de control. Aplicación al control de procesos y sistemas con restricciones/
info:eu-repo/grantAgreement/UNLP//I164/
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Thanks:
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This research is partially supported by research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research projects PAID-05-11-2640 and PAID-00-12-SP20120159 of the Universitat Polit'ecnica de Val'encia ...[+]
This research is partially supported by research project DPI2011-27845-C02-01 of the Spanish Government (Spain), research projects PAID-05-11-2640 and PAID-00-12-SP20120159 of the Universitat Polit'ecnica de Val'encia (Spain), and research projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361, and UNLP 1164 (Argentina).
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Type:
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Artículo
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