Integrated sliding-mode algorithms in robot tracking applications

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. Th...

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Detalles Bibliográficos
Autores principales: Gracia, Luis, Garelli, Fabricio, Sala, Antonio
Formato: Articulo Preprint
Lenguaje:Inglés
Publicado: 2013
Materias:
Ingeniería
Sliding mode
Robot control
Collision avoidance
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/128735
Aporte de:
SEDICI (UNLP) de Universidad Nacional de La Plata
id I19-R120-10915-128735
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
Robot control
Collision avoidance
spellingShingle Ingeniería
Sliding mode
Robot control
Collision avoidance
Gracia, Luis
Garelli, Fabricio
Sala, Antonio
Integrated sliding-mode algorithms in robot tracking applications
topic_facet Ingeniería
Sliding mode
Robot control
Collision avoidance
description 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.
format Articulo
Preprint
author Gracia, Luis
Garelli, Fabricio
Sala, Antonio
author_facet Gracia, Luis
Garelli, Fabricio
Sala, Antonio
author_sort Gracia, Luis
title Integrated sliding-mode algorithms in robot tracking applications
title_short Integrated sliding-mode algorithms in robot tracking applications
title_full Integrated sliding-mode algorithms in robot tracking applications
title_fullStr Integrated sliding-mode algorithms in robot tracking applications
title_full_unstemmed Integrated sliding-mode algorithms in robot tracking applications
title_sort integrated sliding-mode algorithms in robot tracking applications
publishDate 2013
url http://sedici.unlp.edu.ar/handle/10915/128735
work_keys_str_mv AT gracialuis integratedslidingmodealgorithmsinrobottrackingapplications
AT garellifabricio integratedslidingmodealgorithmsinrobottrackingapplications
AT salaantonio integratedslidingmodealgorithmsinrobottrackingapplications
bdutipo_str Repositorios
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