Robot coordination using task-priority and sliding-mode techniques

Autores
Gracia, Luis; Sala, Antonio; Garelli, Fabricio
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach are substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad de Valencia; España
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
Materia
Multi-Robot Systems
Cooperative Control
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:11336/24623
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/24623
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Robot coordination using task-priority and sliding-mode techniquesGracia, LuisSala, AntonioGarelli, FabricioMulti-Robot SystemsCooperative ControlRobot ControlCollision Avoidancehttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach are substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.Fil: Gracia, Luis. Universidad Politécnica de Valencia; EspañaFil: Sala, Antonio. Universidad de Valencia; EspañaFil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; ArgentinaPergamon-Elsevier Science Ltd.2014-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/24623Gracia, Luis; Sala, Antonio; Garelli, Fabricio; Robot coordination using task-priority and sliding-mode techniques; Pergamon-Elsevier Science Ltd.; Robotics And Computer-integrated Manufacturing; 30; 1; 1-2014; 74-890736-5845CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1016/j.rcim.2013.08.003info:eu-repo/semantics/altIdentifier/url/http://linkinghub.elsevier.com/retrieve/pii/S0736584513000598info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-17T11:18:39Zoai:ri.conicet.gov.ar:11336/24623instacron: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:34982025-09-17 11:18:40.044CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Robot coordination using task-priority and sliding-mode techniques
title Robot coordination using task-priority and sliding-mode techniques
spellingShingle Robot coordination using task-priority and sliding-mode techniques
Gracia, Luis
Multi-Robot Systems
Cooperative Control
Robot Control
Collision Avoidance
title_short Robot coordination using task-priority and sliding-mode techniques
title_full Robot coordination using task-priority and sliding-mode techniques
title_fullStr Robot coordination using task-priority and sliding-mode techniques
title_full_unstemmed Robot coordination using task-priority and sliding-mode techniques
title_sort Robot coordination using task-priority and sliding-mode techniques
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 Multi-Robot Systems
Cooperative Control
Robot Control
Collision Avoidance
topic Multi-Robot Systems
Cooperative Control
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 In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach are substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
Fil: Sala, Antonio. Universidad de Valencia; España
Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
description In this work, an approach based on task-priority redundancy resolution and sliding mode ideas is proposed for robot coordination. In particular, equality and inequality constraints representing the coordination of the multi-robot system are considered as mandatory (for instance, rigid-body manipulation constraints to distance between the end-effectors of several robot arms, or other inequality constraints guaranteeing safe operation of a robotic swarm or confining the robot's workspace to avoid collision and joint limits). Besides the mandatory constraints, other constraints with lower priority are considered for the tracking of the workspace reference and to achieve secondary goals. Thus, lower-priority constraints are satisfied only in the null space of the higher-priority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach are substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.
publishDate 2014
dc.date.none.fl_str_mv 2014-01
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/11336/24623
Gracia, Luis; Sala, Antonio; Garelli, Fabricio; Robot coordination using task-priority and sliding-mode techniques; Pergamon-Elsevier Science Ltd.; Robotics And Computer-integrated Manufacturing; 30; 1; 1-2014; 74-89
0736-5845
CONICET Digital
CONICET
url http://hdl.handle.net/11336/24623
identifier_str_mv Gracia, Luis; Sala, Antonio; Garelli, Fabricio; Robot coordination using task-priority and sliding-mode techniques; Pergamon-Elsevier Science Ltd.; Robotics And Computer-integrated Manufacturing; 30; 1; 1-2014; 74-89
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.2013.08.003
info:eu-repo/semantics/altIdentifier/url/http://linkinghub.elsevier.com/retrieve/pii/S0736584513000598
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 Pergamon-Elsevier Science Ltd.
publisher.none.fl_str_mv Pergamon-Elsevier Science Ltd.
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_ 1843606530779250688
score 13.001348

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