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Integrated sliding-mode algorithms in robot tracking applications

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Integrated sliding-mode algorithms in robot tracking applications

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dc.contributor.author Gracia Calandin, Luis Ignacio es_ES
dc.contributor.author Garelli, Fabricio es_ES
dc.contributor.author Sala Piqueras, Antonio es_ES
dc.date.accessioned 2015-05-11T07:32:56Z
dc.date.available 2015-05-11T07:32:56Z
dc.date.issued 2013-02
dc.identifier.issn 0736-5845
dc.identifier.uri http://hdl.handle.net/10251/49992
dc.description.abstract 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. es_ES
dc.description.sponsorship 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). en_EN
dc.language Inglés es_ES
dc.publisher Elsevier es_ES
dc.relation Project DPI2011- 27845-C02-01 of the Spanish Government (Spain) es_ES
dc.relation 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) es_ES
dc.relation Research projects ANPCyT PICT- 2011-0888, CONICET PIP 112-2011-00361, and UNLP I164 (Argentina) es_ES
dc.relation.ispartof Robotics and Computer-Integrated Manufacturing es_ES
dc.rights Reserva de todos los derechos es_ES
dc.subject Sliding mode es_ES
dc.subject Robot control es_ES
dc.subject Collision avoidance es_ES
dc.subject.classification INGENIERIA DE SISTEMAS Y AUTOMATICA es_ES
dc.title Integrated sliding-mode algorithms in robot tracking applications es_ES
dc.type Artículo es_ES
dc.identifier.doi 10.1016/j.rcim.2012.07.007
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.; Garelli, F.; Sala Piqueras, A. (2013). Integrated sliding-mode algorithms in robot tracking applications. Robotics and Computer-Integrated Manufacturing. 29(1):53-62. doi:10.1016/j.rcim.2012.07.007 es_ES
dc.description.accrualMethod Senia es_ES
dc.relation.publisherversion http://dx.doi.org/10.1016/j.rcim.2012.07.007 es_ES
dc.description.upvformatpinicio 53 es_ES
dc.description.upvformatpfin 62 es_ES
dc.type.version info:eu-repo/semantics/publishedVersion es_ES
dc.description.volume 29 es_ES
dc.description.issue 1 es_ES
dc.relation.senia 254439


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