A Sliding-Mode Path Conditioning Algorithm to Fulfill End-Effector Constraints in Robotic Systems

FABRICIO GARELLI; LUIS GRACIA; ANTONIO SALA

Buenos Aires

Congreso; XXIII Congreso Argentino de Control Automático; 2012

AADECA

An approach based on geometric invariance and sliding mode ideas is proposed for robotic path conditioning in order to fulfill workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. The proposal can be interpreted as a limit case of the conventional potential field-based approach for collision avoidance which requires using variable structure control concepts. It allows reaching the limit surface of the constraints smoothly, and it does not require a priori knowledge of the desired path. The algorithm is evaluated in simulation on the freely accessible 6R robot model PUMA-560.