Sliding mode speed auto-regulation technique for robotic tracking

Autores
Garelli, Fabricio; Gracia, Luis; Sala, Antonio; Albertos, Pedro
Año de publicación
2011
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the proposal are that: (1) it is completely independent of the robot parameters, and it does not require a priori knowledge of the desired path either, (2) it avoids on-line computations necessary for conventional analytical methodologies, and (3) it can be easily added as a supervisory block to pre-existing path tracking schemes. A sufficient condition (lower bound on desired tracking speed) for the sliding mode regulation to be activated is derived, while a chattering amplitude estimation is obtained in terms of the sampling period and a tunable first-order filter bandwidth. The algorithm is evaluated on the freely accessible 6R robot model PUMA-560, for which a path passing through a wrist singularity is considered to show the effectiveness of the proposal under hard tracking conditions.
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina. Universidad Nacional de La Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Fil: Albertos, Pedro. Universidad Politécnica de Valencia; España
Materia
Robotic tracking
Sliding mode
Input saturation
Multivariable systems
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:11336/105074
Acceder
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network_name_str CONICET Digital (CONICET)
spelling Sliding mode speed auto-regulation technique for robotic trackingGarelli, FabricioGracia, LuisSala, AntonioAlbertos, PedroRobotic trackingSliding modeInput saturationMultivariable systemshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the proposal are that: (1) it is completely independent of the robot parameters, and it does not require a priori knowledge of the desired path either, (2) it avoids on-line computations necessary for conventional analytical methodologies, and (3) it can be easily added as a supervisory block to pre-existing path tracking schemes. A sufficient condition (lower bound on desired tracking speed) for the sliding mode regulation to be activated is derived, while a chattering amplitude estimation is obtained in terms of the sampling period and a tunable first-order filter bandwidth. The algorithm is evaluated on the freely accessible 6R robot model PUMA-560, for which a path passing through a wrist singularity is considered to show the effectiveness of the proposal under hard tracking conditions.Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina. Universidad Nacional de La Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; ArgentinaFil: Gracia, Luis. Universidad Politécnica de Valencia; EspañaFil: Sala, Antonio. Universidad Politécnica de Valencia; EspañaFil: Albertos, Pedro. Universidad Politécnica de Valencia; EspañaElsevier Science2011-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/105074Garelli, Fabricio; Gracia, Luis; Sala, Antonio; Albertos, Pedro; Sliding mode speed auto-regulation technique for robotic tracking; Elsevier Science; Robotics And Autonomous Systems; 59; 7-8; 7-2011; 519-5290921-8890CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.robot.2011.03.007info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/abs/pii/S0921889011000595info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-10-22T11:58:15Zoai:ri.conicet.gov.ar:11336/105074instacron: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:34982025-10-22 11:58:15.766CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Sliding mode speed auto-regulation technique for robotic tracking
title Sliding mode speed auto-regulation technique for robotic tracking
spellingShingle Sliding mode speed auto-regulation technique for robotic tracking
Garelli, Fabricio
Robotic tracking
Sliding mode
Input saturation
Multivariable systems
title_short Sliding mode speed auto-regulation technique for robotic tracking
title_full Sliding mode speed auto-regulation technique for robotic tracking
title_fullStr Sliding mode speed auto-regulation technique for robotic tracking
title_full_unstemmed Sliding mode speed auto-regulation technique for robotic tracking
title_sort Sliding mode speed auto-regulation technique for robotic tracking
dc.creator.none.fl_str_mv Garelli, Fabricio
Gracia, Luis
Sala, Antonio
Albertos, Pedro
author Garelli, Fabricio
author_facet Garelli, Fabricio
Gracia, Luis
Sala, Antonio
Albertos, Pedro
author_role author
author2 Gracia, Luis
Sala, Antonio
Albertos, Pedro
author2_role author
author
author
dc.subject.none.fl_str_mv Robotic tracking
Sliding mode
Input saturation
Multivariable systems
topic Robotic tracking
Sliding mode
Input saturation
Multivariable systems
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the proposal are that: (1) it is completely independent of the robot parameters, and it does not require a priori knowledge of the desired path either, (2) it avoids on-line computations necessary for conventional analytical methodologies, and (3) it can be easily added as a supervisory block to pre-existing path tracking schemes. A sufficient condition (lower bound on desired tracking speed) for the sliding mode regulation to be activated is derived, while a chattering amplitude estimation is obtained in terms of the sampling period and a tunable first-order filter bandwidth. The algorithm is evaluated on the freely accessible 6R robot model PUMA-560, for which a path passing through a wrist singularity is considered to show the effectiveness of the proposal under hard tracking conditions.
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina. Universidad Nacional de La Plata. Facultad de Ingeniería. Departamento de Electrotecnia. Laboratorio de Electrónica Industrial, Control e Instrumentación; Argentina
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España
Fil: Albertos, Pedro. Universidad Politécnica de Valencia; España
description In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the proposal are that: (1) it is completely independent of the robot parameters, and it does not require a priori knowledge of the desired path either, (2) it avoids on-line computations necessary for conventional analytical methodologies, and (3) it can be easily added as a supervisory block to pre-existing path tracking schemes. A sufficient condition (lower bound on desired tracking speed) for the sliding mode regulation to be activated is derived, while a chattering amplitude estimation is obtained in terms of the sampling period and a tunable first-order filter bandwidth. The algorithm is evaluated on the freely accessible 6R robot model PUMA-560, for which a path passing through a wrist singularity is considered to show the effectiveness of the proposal under hard tracking conditions.
publishDate 2011
dc.date.none.fl_str_mv 2011-07
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/11336/105074
Garelli, Fabricio; Gracia, Luis; Sala, Antonio; Albertos, Pedro; Sliding mode speed auto-regulation technique for robotic tracking; Elsevier Science; Robotics And Autonomous Systems; 59; 7-8; 7-2011; 519-529
0921-8890
CONICET Digital
CONICET
url http://hdl.handle.net/11336/105074
identifier_str_mv Garelli, Fabricio; Gracia, Luis; Sala, Antonio; Albertos, Pedro; Sliding mode speed auto-regulation technique for robotic tracking; Elsevier Science; Robotics And Autonomous Systems; 59; 7-8; 7-2011; 519-529
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.2011.03.007
info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/abs/pii/S0921889011000595
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
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score 12.982451

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