Gracia Calandin, LI.; Sala, A.; Garelli, F. (2012). A supervisory loop approach to fulfill workspace constraints in redundant robots. Robotics and Autonomous Systems. 60(1):1-15. https://doi.org/10.1016/j.robot.2011.07.008
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/60729
Title:
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A supervisory loop approach to fulfill workspace constraints in redundant robots
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Author:
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Gracia Calandin, Luis Ignacio
Sala, Antonio
Garelli, Fabricio
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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 approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision ...[+]
An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and 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
,
Collision avoidance
,
Redundancy resolution
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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 Autonomous Systems. (issn:
0921-8890
)
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DOI:
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10.1016/j.robot.2011.07.008
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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.robot.2011.07.008
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Project ID:
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info:eu-repo/grantAgreement/GVA//PROMETEO08%2F2008%2F088/ES/Nuevas Estrategias para el Diseño de Sistemas de Control Multivariable/
info:eu-repo/grantAgreement/MICINN//DPI2011-27845-C02-01/ES/ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO/
info:eu-repo/grantAgreement/UNLP//111127/
info:eu-repo/grantAgreement/CONICET//PIP 112-200801-0/
info:eu-repo/grantAgreement/ANPCyT//PICT-2007-00535/
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Thanks:
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This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), Technical University of Valencia (Spain), ...[+]
This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2011-27845-C02-01 of the Spanish Government (Spain), Technical University of Valencia (Spain), and the Argentinian Government (UNLP 11I127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535).
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Type:
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Artículo
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