- -

A supervisory loop approach to fulfill workspace constraints in redundant robots

RiuNet: Institutional repository of the Polithecnic University of Valencia

Share/Send to

Cited by

Statistics

A supervisory loop approach to fulfill workspace constraints in redundant robots

Show full item record

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

Files in this item

Item Metadata

Title: A supervisory loop approach to fulfill workspace constraints in redundant robots
Author: Gracia Calandin, Luis Ignacio Sala, Antonio Garelli, Fabricio
UPV Unit: Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica
Issued date:
Abstract:
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 ...[+]
Subjects: Sliding mode , Collision avoidance , Redundancy resolution
Copyrigths: Reserva de todos los derechos
Source:
Robotics and Autonomous Systems. (issn: 0921-8890 )
DOI: 10.1016/j.robot.2011.07.008
Publisher:
Elsevier
Publisher version: http://dx.doi.org/10.1016/j.robot.2011.07.008
Project ID:
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/
Thanks:
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), ...[+]
Type: Artículo

recommendations

 

This item appears in the following Collection(s)

Show full item record