@article {7,
	title = {Integrated sliding-mode algorithms in robot tracking applications},
	journal = {Robotics and Computer-Integrated Manufacturing},
	volume = {29},
	year = {2013},
	pages = {53 - 62},
	abstract = {<p>An integrated solution based on sliding mode ideas is proposed for robotic trajectory tracking. The proposal includes three sliding-mode algorithms for speed auto-regulation, path conditioning and redundancy resolution in order to fulfill velocity, workspace and C-space constraints, respectively. The proposed method only requires a few program lines and simplifies the robot user interface since it directly deals with the fulfillment of the constraints to find a feasible solution for the robot trajectory tracking in a short computation time. The proposed approach is evaluated in simulation on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.</p>
},
	keywords = {Sliding mode},
	issn = {0736-5845},
	doi = {10.1016/j.rcim.2012.07.007},
	url = {http://www.sciencedirect.com/science/article/pii/S0736584512000919},
	author = {Gracia, Luis and Garelli, Fabricio and Sala, Antonio}
}
