Robot coordination using task-priority and sliding-mode techniques

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 manipulat...

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Detalhes bibliográficos
Autores: Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286, Sala, Antonio|||0000-0002-5691-8772, Garelli, Fabricio
Tipo de documento: artigo
Data de publicação:2014
País:España
Recursos:Universitat Politècnica de València (UPV)
Repositório:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valéncia
Idioma:inglês
OAI Identifier:oai:riunet.upv.es:10251/49990
Acesso em linha:https://riunet.upv.es/handle/10251/49990
Access Level:Acceso aberto
Palavra-chave:Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
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spelling Robot coordination using task-priority and sliding-mode techniquesGracia Calandin, Luis Ignacio|||0000-0001-9258-9286Sala, Antonio|||0000-0002-5691-8772Garelli, FabricioMulti-robot systemsCooperative robotsRobot controlCollision avoidanceINGENIERIA DE SISTEMAS Y AUTOMATICAIn 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 higherpriority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.This work was supported in part by research under Project DPI2011-27845-C02-01 of the Spanish Government and Projects ANPCyT PICT-2011-0888, CONICET PIP 112-2011-00361 and UNLP 1164 in Argentina.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, ArgentinaRepositorio Institucional de la Universitat Politècnica de València Riunet20142014-02-01journal articlehttp://purl.org/coar/resource_type/c_6501VoRhttp://purl.org/coar/version/c_970fb48d4fbd8a85info:eu-repo/semantics/articleapplication/pdfapplication/pdfhttps://riunet.upv.es/handle/10251/49990reponame:RiuNet. Repositorio Institucional de la Universitat Politécnica de Valénciainstname:Universitat Politècnica de València (UPV)InglésengMinisterio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-27845-C02-01 ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELOAgencia Nacional de Promoción Científica y Tecnológica, Argentina https://doi.org/10.13039/501100003074 PICT-2011-0888 Sistemas conmutados de control. Aplicación al control de procesos y sistemas con restriccionesUniversidad Nacional de La Plata, Argentina https://doi.org/10.13039/501100003947 I164Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina https://doi.org/10.13039/501100002923 PIP 112-2011-00361open 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:10251/499902026-06-13T07:49:27Z
dc.title.none.fl_str_mv Robot coordination using task-priority and sliding-mode techniques
title Robot coordination using task-priority and sliding-mode techniques
spellingShingle Robot coordination using task-priority and sliding-mode techniques
Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
title_short Robot coordination using task-priority and sliding-mode techniques
title_full Robot coordination using task-priority and sliding-mode techniques
title_fullStr Robot coordination using task-priority and sliding-mode techniques
title_full_unstemmed Robot coordination using task-priority and sliding-mode techniques
title_sort Robot coordination using task-priority and sliding-mode techniques
dc.creator.none.fl_str_mv Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Sala, Antonio|||0000-0002-5691-8772
Garelli, Fabricio
author Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
author_facet Gracia Calandin, Luis Ignacio|||0000-0001-9258-9286
Sala, Antonio|||0000-0002-5691-8772
Garelli, Fabricio
author_role author
author2 Sala, Antonio|||0000-0002-5691-8772
Garelli, Fabricio
author2_role 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
Repositorio Institucional de la Universitat Politècnica de València Riunet
dc.subject.none.fl_str_mv Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
topic Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
INGENIERIA DE SISTEMAS Y AUTOMATICA
description 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 higherpriority ones. The fulfillment of the constraints is achieved using geometric invariance and sliding mode control theory. The validity and effectiveness of the proposed approach is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.
publishDate 2014
dc.date.none.fl_str_mv 2014
2014-02-01
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/10251/49990
url https://riunet.upv.es/handle/10251/49990
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.relation.none.fl_str_mv Ministerio de Ciencia e Innovación http://dx.doi.org/10.13039/501100004837 DPI2011-27845-C02-01 ESTIMACION, OPTIMIZACION Y CONTROL MULTIVARIABLE EN SISTEMAS MULTI-MODELO
Agencia Nacional de Promoción Científica y Tecnológica, Argentina https://doi.org/10.13039/501100003074 PICT-2011-0888 Sistemas conmutados de control. Aplicación al control de procesos y sistemas con restricciones
Universidad Nacional de La Plata, Argentina https://doi.org/10.13039/501100003947 I164
Consejo Nacional de Investigaciones Científicas y Técnicas, Argentina https://doi.org/10.13039/501100002923 PIP 112-2011-00361
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
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