INVESTIGADORES
GARELLI Fabricio
artículos
Título:
A supervisory loop approach to fulfill workspace constraints in redundant robots
Autor/es:
LUIS GRACIA; ANTONIO SALA; FABRICIO GARELLI
Revista:
ROBOTICS AND AUTONOMOUS SYSTEMS
Editorial:
ELSEVIER SCIENCE BV
Referencias:
Año: 2012 vol. 60 p. 1 - 15
ISSN:
0921-8890
Resumen:
An approach based on geometric invariance and sliding mode ideas is proposedfor redundancy resolution in robotic systems to fulfill configurationand workspace constraints caused by robot mechanical limits, collision avoidance,industrial security, etc. Some interesting features of the proposal arethat: (1) it can be interpreted as a limit case of the classical potential fieldbasedapproach for collision avoidance which requires using variable structurecontrol concepts, (2) it allows reaching the limit surface of the constraintssmoothly, depending on a free design parameter, and (3) it can be easilyadded as a supervisory block to pre-existing redundancy resolution schemes.The algorithm is evaluated in simulation on a 6R planar robot and on thefreely accessible 6R robot model PUMA-560, for which the main features ofthe method are illustrated.
