Artículos de revistas
Integrated sliding-mode algorithms in robot tracking applications
Fecha
2012-08Registro en:
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
0736-5845
CONICET Digital
CONICET
Autor
Gracia, Luis
Garelli, Fabricio
Sala, Antonio
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.