Sliding mode speed auto-regulation technique for robotic tracking
In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Fecha de publicación: | 2011 |
| País: | España |
| Institución: | Universitat Politècnica de València (UPV) |
| Repositorio: | RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia |
| Idioma: | inglés |
| OAI Identifier: | oai:riunet.upv.es:10251/60731 |
| Acceso en línea: | https://riunet.upv.es/handle/10251/60731 |
| Access Level: | acceso abierto |
| Palabra clave: | Input saturation Multivariable systems Robotic tracking Sliding mode Amplitude estimation Autoregulations Conventional analytical Distinctive features First-order filters Input constraints Lower bounds Online computations Parametrizations Path tracking Priori knowledge Robot model Robot parameters Sampling period Sliding mode conditioning Sliding modes Sufficient conditions Tracking speed Trajectory tracking Robotics Robots INGENIERIA DE SISTEMAS Y AUTOMATICA |
| Sumario: | In advanced industry manufacturing involving robotic operations, the required tasks can be frequently formulated in terms of a path or trajectory tracking. In this paper, an approach based on sliding mode conditioning of a path parametrization is proposed to achieve the greatest tracking speed which is compatible with the robot input constraints (joint speeds). Some distinctive features of the proposal are that: (1) it is completely independent of the robot parameters, and it does not require a priori knowledge of the desired path either, (2) it avoids on-line computations necessary for conventional analytical methodologies, and (3) it can be easily added as a supervisory block to pre-existing path tracking schemes. A sufficient condition (lower bound on desired tracking speed) for the sliding mode regulation to be activated is derived, while a chattering amplitude estimation is obtained in terms of the sampling period and a tunable first-order filter bandwidth. The algorithm is evaluated on the freely accessible 6R robot model PUMA-560, for which a path passing through a wrist singularity is considered to show the effectiveness of the proposal under hard tracking conditions. © 2011 Elsevier B.V. All rights reserved. |
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