Integrated sliding-mode algorithms in robot tracking applications |
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Authors: | Luis Gracia Fabricio Garelli Antonio Sala |
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Affiliation: | 1. Department of Systems Engineering and Control, Universitat Politècnica de València, Camino de Vera s/n, 46022 Valencia, Spain;2. CONICET and Universidad Nacional de La Plata, C.C.91 (1900), La Plata, Argentina |
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Abstract: | 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. |
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Keywords: | Sliding mode Robot control Collision avoidance |
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