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dc.contributor.author Gracia, Luis
dc.contributor.author Sala, Antonio
dc.contributor.author Garelli, Fabricio
dc.date.available 2017-09-19T19:52:05Z
dc.date.issued 2014-01
dc.identifier.citation 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
dc.identifier.issn 0736-5845
dc.identifier.uri http://hdl.handle.net/11336/24623
dc.description.abstract 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.
dc.format application/pdf
dc.language.iso eng
dc.publisher Pergamon-Elsevier Science Ltd.
dc.rights info:eu-repo/semantics/restrictedAccess
dc.rights.uri https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.subject multi-robot systems
dc.subject cooperative control
dc.subject robot control
dc.subject collision avoidance
dc.subject.classification Ingeniería de Sistemas y Comunicaciones
dc.subject.classification Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
dc.subject.classification INGENIERÍAS Y TECNOLOGÍAS
dc.title Robot coordination using task-priority and sliding-mode techniques
dc.type info:eu-repo/semantics/article
dc.type info:ar-repo/semantics/artículo
dc.type info:eu-repo/semantics/publishedVersion
dc.date.updated 2017-09-18T14:29:19Z
dc.journal.volume 30
dc.journal.number 1
dc.journal.pagination 74-89
dc.journal.pais Países Bajos
dc.journal.ciudad Amsterdam
dc.description.fil Fil: Gracia, Luis. Universidad Politécnica de Valencia; España
dc.description.fil Fil: Sala, Antonio. Universidad de Valencia; España
dc.description.fil Fil: Garelli, Fabricio. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
dc.journal.title Robotics And Computer-integrated Manufacturing
dc.relation.alternativeid info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1016/j.rcim.2013.08.003
dc.relation.alternativeid info:eu-repo/semantics/altIdentifier/url/http://linkinghub.elsevier.com/retrieve/pii/S0736584513000598


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info:eu-repo/semantics/restrictedAccess Excepto donde se diga explícitamente, este item se publica bajo la siguiente descripción: Creative Commons Attribution-NonCommercial-ShareAlike 2.5 Unported (CC BY-NC-SA 2.5)