Integrated sliding-mode algorithms in robot tracking applications

Autores
Gracia, Luis; Garelli, Fabricio; Sala, Antonio
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Materia
Sliding Mode
Robot Control
Collision Avoidance
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/21807
Acceder
id CONICETDig_253f70ec867c9dc7f4f1928dc2318fb4
oai_identifier_str oai:ri.conicet.gov.ar:11336/21807
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Integrated sliding-mode algorithms in robot tracking applicationsGracia, LuisGarelli, FabricioSala, AntonioSliding ModeRobot ControlCollision Avoidancehttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2An 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.Fil: Gracia, Luis. Universidad Politécnica de Valencia; EspañaFil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Sala, Antonio. Universidad Politécnica de Valencia; EspañaElsevier2012-08info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/21807Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Integrated sliding-mode algorithms in robot tracking applications; Elsevier; Robotics And Computer-integrated Manufacturing; 29; 1; 8-2012; 59-620736-5845CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.rcim.2012.07.007info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0736584512000919info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-29T11:50:38Zoai:ri.conicet.gov.ar:11336/21807instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-10-29 11:50:39.052CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Integrated sliding-mode algorithms in robot tracking applications
title Integrated sliding-mode algorithms in robot tracking applications
spellingShingle Integrated sliding-mode algorithms in robot tracking applications
Gracia, Luis
Sliding Mode
Robot Control
Collision Avoidance
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
dc.creator.none.fl_str_mv Gracia, Luis
Garelli, Fabricio
Sala, Antonio
author Gracia, Luis
author_facet Gracia, Luis
Garelli, Fabricio
Sala, Antonio
author_role author
author2 Garelli, Fabricio
Sala, Antonio
author2_role author
author
dc.subject.none.fl_str_mv Sliding Mode
Robot Control
Collision Avoidance
topic Sliding Mode
Robot Control
Collision Avoidance
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
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.
publishDate 2012
dc.date.none.fl_str_mv 2012-08
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/21807
Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Integrated sliding-mode algorithms in robot tracking applications; Elsevier; Robotics And Computer-integrated Manufacturing; 29; 1; 8-2012; 59-62
0736-5845
CONICET Digital
CONICET
url http://hdl.handle.net/11336/21807
identifier_str_mv Gracia, Luis; Garelli, Fabricio; Sala, Antonio; Integrated sliding-mode algorithms in robot tracking applications; Elsevier; Robotics And Computer-integrated Manufacturing; 29; 1; 8-2012; 59-62
0736-5845
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1016/j.rcim.2012.07.007
info:eu-repo/semantics/altIdentifier/url/http://www.sciencedirect.com/science/article/pii/S0736584512000919
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1847426557607411712
score 13.10058

Publicaciones similares