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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Detalles Bibliográficos
Autores principales: Gracia, Luis, Sala, Antonio, Garelli, Fabricio
Formato: Articulo Preprint
Lenguaje:Inglés
Publicado: 2014
Materias:
Acceso en línea:http://sedici.unlp.edu.ar/handle/10915/128179
Aporte de:
id I19-R120-10915-128179
record_format dspace
institution Universidad Nacional de La Plata
institution_str I-19
repository_str R-120
collection SEDICI (UNLP)
language Inglés
topic Ingeniería
Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
spellingShingle Ingeniería
Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
Gracia, Luis
Sala, Antonio
Garelli, Fabricio
Robot coordination using task-priority and sliding-mode techniques
topic_facet Ingeniería
Multi-robot systems
Cooperative robots
Robot control
Collision avoidance
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 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 are substantiated by 2D and 3D simulation results using two 3R planar robots and two 6R PUMA-762 robots, respectively.
format Articulo
Preprint
author Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_facet Gracia, Luis
Sala, Antonio
Garelli, Fabricio
author_sort Gracia, Luis
title Robot coordination using task-priority and sliding-mode techniques
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
publishDate 2014
url http://sedici.unlp.edu.ar/handle/10915/128179
work_keys_str_mv AT gracialuis robotcoordinationusingtaskpriorityandslidingmodetechniques
AT salaantonio robotcoordinationusingtaskpriorityandslidingmodetechniques
AT garellifabricio robotcoordinationusingtaskpriorityandslidingmodetechniques
bdutipo_str Repositorios
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