A supervisory loop approach to fulfill workspace constraints in redundant robots

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...

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Detalles Bibliográficos
Autores principales: Gracia, Luis, Sala, Antonio, Garelli, Fabricio
Formato: Articulo Preprint
Lenguaje:Inglés
Publicado: 2012
Materias:
Ingeniería
Sliding mode
Collision avoidance
Redundancy resolution
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/128360
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-128360
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ingeniería
Sliding mode
Collision avoidance
Redundancy resolution
spellingShingle Ingeniería
Sliding mode
Collision avoidance
Redundancy resolution
Gracia, Luis
Sala, Antonio
Garelli, Fabricio
A supervisory loop approach to fulfill workspace constraints in redundant robots
topic_facet Ingeniería
Sliding mode
Collision avoidance
Redundancy resolution
description 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.
format Articulo
Preprint
author Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_facet Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_sort Gracia, Luis
title A supervisory loop approach to fulfill workspace constraints in redundant robots
title_short A supervisory loop approach to fulfill workspace constraints in redundant robots
title_full A supervisory loop approach to fulfill workspace constraints in redundant robots
title_fullStr A supervisory loop approach to fulfill workspace constraints in redundant robots
title_full_unstemmed A supervisory loop approach to fulfill workspace constraints in redundant robots
title_sort supervisory loop approach to fulfill workspace constraints in redundant robots
publishDate 2012
url http://sedici.unlp.edu.ar/handle/10915/128360
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AT salaantonio supervisoryloopapproachtofulfillworkspaceconstraintsinredundantrobots
AT garellifabricio supervisoryloopapproachtofulfillworkspaceconstraintsinredundantrobots
bdutipo_str Repositorios
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