IEEE Transactions on Systems, Man and Cybernetics
Matrix computations (3rd ed.)
Robot Motion Planning
Theory of Robot Control
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms (Mechanical Engineering Series)
Robotics and Autonomous Systems
Robotics and Autonomous Systems
Control of a class of underactuated mechanical systems using sliding modes
IEEE Transactions on Robotics
An adaptive fuzzy sliding mode controller for remotely operated underwater vehicles
Robotics and Autonomous Systems
Sliding mode speed auto-regulation technique for robotic tracking
Robotics and Autonomous Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
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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An approach based on geometric invariance and sliding mode ideas is proposed for redundancy resolution in robotic systems to fulfill configuration and workspace constraints caused by robot mechanical limits, collision avoidance, industrial security, etc. Some interesting features of the proposal are that: (1) it can be interpreted as a limit case of the classical potential field-based approach for collision avoidance which requires using variable structure control concepts, (2) it allows reaching the limit surface of the constraints smoothly, depending on a free design parameter, and (3) it can be easily added as a supervisory block to pre-existing redundancy resolution schemes. The algorithm is evaluated in simulation on a 6R planar robot and on the freely accessible 6R robot model PUMA-560, for which the main features of the method are illustrated.