Integrated sliding-mode algorithms in robot tracking applications

Gracia, Luis; Garelli, Fabricio; Sala, Antonio

doi:10.1016/j.rcim.2012.07.007

Cited by 19 publications

(13 citation statements)

References 23 publications

(37 reference statements)

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“…It will allow a simple computer implementation, in the line of other proposals by the authors [13,14], fulfilling the constraints specified by the robot end-user without recourse to high-level planning.…”

Section: Constraint Spacementioning

confidence: 99%

“…However, as widely known, the finite-frequency commutation of any practical SM implementation makes the system leave the ideal SM and oscillate with finite frequency and amplitude inside a "band" around φ = 0, which is called chattering [9]. Similarly to other robotic applications based on SM conditioning [12,13,14], an upper bound for the chattering band △φ of the proposed approach can be derived using the Euler-integration of the discontinuous action given by (19), that is:…”

Section: Chatteringmentioning

confidence: 99%

“…vii) The commanded joint acceleration vectorq c was computed with a sampling period T s of 0.5 milliseconds, using (13) but replacing the MoorePenrose pseudoinverse by the singularity-robust pseudoinverse (14). A constant damping factor λ = 0.01 was used.…”

Section: Simulation Conditions and Parameter Values For The First Examentioning

confidence: 99%

“…In order to fulfill equality and inequality constraints, or reaching such feasible regions in finite time if not initially in them, sliding-mode (SM) control theory has been used in literature [9,10], in particular geometric-invariance approaches [11]. Previous work by the authors discusses how sliding-mode geometric invariance can be used to solve some problems in single-robot systems [12,13,14], while the third author has preliminarily evaluated its effectiveness for the coordination of single scalar realizable references commanding input-constrained dynamical systems [15,16]. The objective of this work is generalizing the above ideas to deal with MRSs as well as incorporating constraint prioritization situations.…”

Section: Introductionmentioning

confidence: 99%

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Robot coordination using task-priority and sliding-mode techniques

Gracia

Sala

Garelli

2014

Robotics and Computer-Integrated Manufacturing

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ElsevierGracia Calandin, LI.; Sala Piqueras, A.; Garelli, F. (2014) AbstractIn 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 is substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.

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Section: Constraint Spacementioning

confidence: 99%

Section: Chatteringmentioning

confidence: 99%

Section: Simulation Conditions and Parameter Values For The First Examentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robot coordination using task-priority and sliding-mode techniques

Gracia

Sala

Garelli

2014

Robotics and Computer-Integrated Manufacturing

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“…This subject is not approached by the scientific literature, but there are some other related subjects like using robots in milling applications [5][6][7] or trajectory tracking for robots in milling applications [8,9]. This chapter is offering examples for robot engraving tasks.…”

Section: Introductionmentioning

confidence: 99%

Robot Engraving Services in Industry

Anton¹,

Anton²,

Constantinescu³

2018

Service Robots

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This chapter presents a software system created to allow to design complex robot trajectories in the cartesian space, used for tasks like milling or engraving with the aid of a robot. The experimental setup was created using an ABB (ASEA Brown Boveri) IRB 140 robot on which was mounted an engraving tool (which was equipped with a high frequency vibrating pin) or a drilling tool (an electric milling machine controlled with I/O signals) and a computer which is executing a CAD application allowing the design of the path that the robot must follow in order to execute the engraving/milling task. The robot job or task is defined by the set of surfaces of the raw object and of the object after being processed, by subtracting these two surfaces the robot task is given by the set of points resulted after the subtraction. The subtraction operation offers a set of points which must be connected in order to obtain the final trajectory, if the task is to engrave a shape then the tool will be normal to the object surface. The algorithm which is generating the surface is presented along with some experimental results.

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Expanded proximate time‐optimal servo control of permanent magnet synchronous motor

Lü

Cheng

2015

Optim Control Appl Methods

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Summary This paper extends the existing proximate time‐optimal servomechanism control methodology to the more typical second‐order servo systems with a damping element. A parameterized design of expanded proximate time‐optimal servomechanism control law with a speed‐dependent linear region is presented for rapid and smooth set‐point tracking using a bounded input signal. The control scheme uses the time‐optimal bang‐bang control law to accomplish maximum acceleration or braking whenever appropriate and then smoothly switches into a linear control law to achieve a bumpless settling. The closed‐loop stability is analyzed, and then the control scheme is applied to the position–velocity control loop in a permanent magnet synchronous motor servo system for set‐point position regulation. Numerical simulation has been conducted, followed by experimental verification based on a TMS320F2812 digital signal controller board. The results confirm that the servo system can track a wide range of target references with superior transient performance and steady‐state accuracy. Copyright © 2015 John Wiley & Sons, Ltd.

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Integrated sliding-mode algorithms in robot tracking applications

Cited by 19 publications

References 23 publications

Robot coordination using task-priority and sliding-mode techniques

Robot coordination using task-priority and sliding-mode techniques

Robot Engraving Services in Industry

Expanded proximate time‐optimal servo control of permanent magnet synchronous motor

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