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dc.date.accessioned 2021-11-26T17:29:57Z
dc.date.available 2021-11-26T17:29:57Z
dc.date.issued 2013
dc.identifier.uri http://sedici.unlp.edu.ar/handle/10915/128735
dc.description.abstract 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. en
dc.format.extent 53-62 es
dc.language en es
dc.subject Sliding mode es
dc.subject Robot control es
dc.subject Collision avoidance es
dc.title Integrated sliding-mode algorithms in robot tracking applications en
dc.type Articulo es
sedici.identifier.other doi:10.1016/j.rcim.2012.07.007 es
sedici.identifier.issn 0736-5845 es
sedici.creator.person Gracia, Luis es
sedici.creator.person Garelli, Fabricio es
sedici.creator.person Sala, Antonio es
sedici.subject.materias Ingeniería es
sedici.description.fulltext true es
mods.originInfo.place Facultad de Ingeniería es
sedici.subtype Preprint es
sedici.rights.license Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0)
sedici.rights.uri http://creativecommons.org/licenses/by-nc-sa/4.0/
sedici.description.peerReview peer-review es
sedici.relation.journalTitle Robotics and Computer-Integrated Manufacturing es
sedici.relation.journalVolumeAndIssue vol. 29, no. 1 es


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