A supervisory loop approach to fulfill workspace constraints in redundant robots

Autores
Gracia, Luis; Sala, Antonio; Garelli, Fabricio
Año de publicación
2012
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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. © 2011 Elsevier B.V. All rights reserved.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
Materia
Collision Avoidance
Redundancy Resolution
Sliding Mode
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:11336/76000
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/76000
network_acronym_str CONICETDig
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network_name_str CONICET Digital (CONICET)
spelling A supervisory loop approach to fulfill workspace constraints in redundant robotsGracia, LuisSala, AntonioGarelli, FabricioCollision AvoidanceRedundancy ResolutionSliding Modehttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2An 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. © 2011 Elsevier B.V. All rights reserved.Fil: Gracia, Luis. Universidad Politécnica de Valencia; EspañaFil: Sala, Antonio. Universidad Politécnica de Valencia; EspañaFil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; ArgentinaElsevier Science2012-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/76000Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A supervisory loop approach to fulfill workspace constraints in redundant robots; Elsevier Science; Robotics And Autonomous Systems; 60; 1; 1-2012; 1-150921-8890CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2011.07.008info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0921889011001308info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-15T15:02:26Zoai:ri.conicet.gov.ar:11336/76000instacron: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:34982025-10-15 15:02:27.058CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A supervisory loop approach to fulfill workspace constraints in redundant robots
title A supervisory loop approach to fulfill workspace constraints in redundant robots
spellingShingle A supervisory loop approach to fulfill workspace constraints in redundant robots
Gracia, Luis
Collision Avoidance
Redundancy Resolution
Sliding Mode
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 A supervisory loop approach to fulfill workspace constraints in redundant robots
dc.creator.none.fl_str_mv Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author Gracia, Luis
author_facet Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_role author
author2 Sala, Antonio
Garelli, Fabricio
author2_role author
author
dc.subject.none.fl_str_mv Collision Avoidance
Redundancy Resolution
Sliding Mode
topic Collision Avoidance
Redundancy Resolution
Sliding Mode
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 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. © 2011 Elsevier B.V. All rights reserved.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
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. © 2011 Elsevier B.V. All rights reserved.
publishDate 2012
dc.date.none.fl_str_mv 2012-01
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/11336/76000
Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A supervisory loop approach to fulfill workspace constraints in redundant robots; Elsevier Science; Robotics And Autonomous Systems; 60; 1; 1-2012; 1-15
0921-8890
CONICET Digital
CONICET
url http://hdl.handle.net/11336/76000
identifier_str_mv Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A supervisory loop approach to fulfill workspace constraints in redundant robots; Elsevier Science; Robotics And Autonomous Systems; 60; 1; 1-2012; 1-15
0921-8890
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.robot.2011.07.008
info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0921889011001308
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 Science
publisher.none.fl_str_mv Elsevier Science
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_ 1846083165598253056
score 13.22299

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