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...

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Authors: Garelli, Fabricio, Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286, Sala, Antonio|||0000-0002-5691-8772, Albertos Pérez, Pedro
Format: article
Publication Date:2011
Country:España
Institution:Universitat Politècnica de València (UPV)
Repository:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Language:English
OAI Identifier:oai:riunet.upv.es:10251/60731
Online Access:https://riunet.upv.es/handle/10251/60731
Access Level:Open access
Keyword: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
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spelling Sliding mode speed auto-regulation technique for robotic trackingGarelli, FabricioGracia Calandin, Luis Ignacio|||0000-0001-9258-9286Sala, Antonio|||0000-0002-5691-8772Albertos Pérez, PedroInput saturationMultivariable systemsRobotic trackingSliding modeAmplitude estimationAutoregulationsConventional analyticalDistinctive featuresFirst-order filtersInput constraintsLower boundsOnline computationsParametrizationsPath trackingPriori knowledgeRobot modelRobot parametersSampling periodSliding mode conditioningSliding modesSufficient conditionsTracking speedTrajectory trackingRoboticsRobotsINGENIERIA DE SISTEMAS Y AUTOMATICAIn 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.This research is partially supported by DISICOM project PROM-ETEO 2008/088 of Generalitat Valenciana (Spain), research project DPI2008-06731-C02-01 of the Spanish Government (Spain), Technical University of Valencia (Spain), and the Argentinian Government (UNLP 111127, CONICET PIP 112-200801-0, ANPCyT PICT 2007 00535).ElsevierDepartamento de Ingeniería de Sistemas y AutomáticaEscuela Técnica Superior de Ingeniería Aeroespacial y Diseño IndustrialInstituto de Diseño para la Fabricación y Producción AutomatizadaInstituto Universitario de Automática e Informática IndustrialEscuela Técnica Superior de Ingeniería IndustrialMinisterio de Ciencia e InnovaciónAgencia Nacional de Promoción Científica y Tecnológica, ArgentinaConsejo Nacional de Investigaciones Científicas y Técnicas, ArgentinaUniversidad Nacional de La Plata, ArgentinaGeneralitat ValencianaUniversitat Politècnica de ValènciaRepositorio Institucional de la Universitat Politècnica de València Riunet20112011-07-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/60731reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengGeneralitat Valenciana https://doi.org/10.13039/501100003359 PROMETEO08%2F2008%2F088 Nuevas Estrategias para el Diseño de Sistemas de Control MultivariableMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2008-06731-C02-01 IDENTIFICACION Y CONTROL DE SISTEMAS NO LINEALES Y LTV MEDIANTE MULTI-MODELOS TAKAGI-SUGENO Y POLINOMIALESUniversidad Nacional de La Plata, Argentina https://doi.org/10.13039/501100003947 111127Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina https://doi.org/10.13039/501100002923 PIP 112-200801-0Agencia Nacional de Promoción Científica y Tecnológica, Argentina https://doi.org/10.13039/501100003074 PICT-2007-00535open accesshttp://purl.org/coar/access_right/c_abf2Reserva de todos los derechoshttp://rightsstatements.org/vocab/InC/1.0/info:eu-repo/semantics/openAccessoai:riunet.upv.es:10251/607312026-06-13T07:49:27Z
dc.title.none.fl_str_mv Sliding mode speed auto-regulation technique for robotic tracking
title Sliding mode speed auto-regulation technique for robotic tracking
spellingShingle Sliding mode speed auto-regulation technique for robotic tracking
Garelli, Fabricio
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
title_short Sliding mode speed auto-regulation technique for robotic tracking
title_full Sliding mode speed auto-regulation technique for robotic tracking
title_fullStr Sliding mode speed auto-regulation technique for robotic tracking
title_full_unstemmed Sliding mode speed auto-regulation technique for robotic tracking
title_sort Sliding mode speed auto-regulation technique for robotic tracking
dc.creator.none.fl_str_mv Garelli, Fabricio
Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Sala, Antonio|||0000-0002-5691-8772
Albertos Pérez, Pedro
author Garelli, Fabricio
author_facet Garelli, Fabricio
Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Sala, Antonio|||0000-0002-5691-8772
Albertos Pérez, Pedro
author_role author
author2 Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Sala, Antonio|||0000-0002-5691-8772
Albertos Pérez, Pedro
author2_role author
author
author
dc.contributor.none.fl_str_mv Departamento de Ingeniería de Sistemas y Automática
Escuela Técnica Superior de Ingeniería Aeroespacial y Diseño Industrial
Instituto de Diseño para la Fabricación y Producción Automatizada
Instituto Universitario de Automática e Informática Industrial
Escuela Técnica Superior de Ingeniería Industrial
Ministerio de Ciencia e Innovación
Agencia Nacional de Promoción Científica y Tecnológica, Argentina
Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina
Universidad Nacional de La Plata, Argentina
Generalitat Valenciana
Universitat Politècnica de València
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv 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
topic 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
description 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.
publishDate 2011
dc.date.none.fl_str_mv 2011
2011-07-01
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
VoR
http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://riunet.upv.es/handle/10251/60731
url https://riunet.upv.es/handle/10251/60731
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Generalitat Valenciana https://doi.org/10.13039/501100003359 PROMETEO08%2F2008%2F088 Nuevas Estrategias para el Diseño de Sistemas de Control Multivariable
Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2008-06731-C02-01 IDENTIFICACION Y CONTROL DE SISTEMAS NO LINEALES Y LTV MEDIANTE MULTI-MODELOS TAKAGI-SUGENO Y POLINOMIALES
Universidad Nacional de La Plata, Argentina https://doi.org/10.13039/501100003947 111127
Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina https://doi.org/10.13039/501100002923 PIP 112-200801-0
Agencia Nacional de Promoción Científica y Tecnológica, Argentina https://doi.org/10.13039/501100003074 PICT-2007-00535
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Reserva de todos los derechos
http://rightsstatements.org/vocab/InC/1.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Elsevier
publisher.none.fl_str_mv Elsevier
dc.source.none.fl_str_mv reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
instname:Universitat Politècnica de València (UPV)
instname_str Universitat Politècnica de València (UPV)
reponame_str RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
collection RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869418546207916032
score 15,300719

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