Sliding mode speed auto-regulation technique for robotic tracking

TitleSliding mode speed auto-regulation technique for robotic tracking
Publication TypeJournal Article
Year of Publication2011
AuthorsGarelli F, Gracia L, Sala A, Albertos P
JournalRobotics and Autonomous Systems
Volume59
Pagination519 - 529
ISSN0921-8890
KeywordsRobotic tracking
Abstract

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.

URLhttp://www.sciencedirect.com/science/article/pii/S0921889011000595
DOI10.1016/j.robot.2011.03.007
Research Line: 
Control de Sistemas Autónomos
Control of autonomous systems
Control and coordination of robotic systems
Control y coordinación de sistemas robóticos