Tracking manipulator trajectories with ordinary singularities: a null space-based approach
International Journal of Robotics Research
Mechanics and Control of Robots
Mechanics and Control of Robots
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Robotics and Autonomous Systems
An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles
Robotics and Autonomous Systems
Robust output maneuvering for a class of nonlinear systems
Automatica (Journal of IFAC)
A supervisory loop approach to fulfill workspace constraints in redundant robots
Robotics and Autonomous Systems
A path conditioning method with trap avoidance
Robotics and Autonomous Systems
Integrated sliding-mode algorithms in robot tracking applications
Robotics and Computer-Integrated Manufacturing
Robot coordination using task-priority and sliding-mode techniques
Robotics and Computer-Integrated Manufacturing
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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.