Artículo
Integrated sliding-mode algorithms in robot tracking applications
Fecha de publicación:
08/2012
Editorial:
Elsevier
Revista:
Robotics And Computer-integrated Manufacturing
ISSN:
0736-5845
Idioma:
Inglés
Tipo de recurso:
Artículo publicado
Clasificación temática:
Resumen
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.
Palabras clave:
Sliding Mode
,
Robot Control
,
Collision Avoidance
Archivos asociados
Licencia
Identificadores
Colecciones
Articulos(CCT - LA PLATA)
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - LA PLATA
Articulos de CTRO.CIENTIFICO TECNOL.CONICET - LA PLATA
Citación
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
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