Robot Motion Planning
Sliding Mode Control in Engineering
Sliding Mode Control in Engineering
Modeling, Identification and Control of Robots
Modeling, Identification and Control of Robots
Simulation of a complex optical polishing process using a neural network
Robotics and Computer-Integrated Manufacturing
Motion navigation for arc welding robots based on feature mapping in a simulation environment
Robotics and Computer-Integrated Manufacturing
Sliding mode speed auto-regulation technique for robotic tracking
Robotics and Autonomous Systems
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
Robot coordination using task-priority and sliding-mode techniques
Robotics and Computer-Integrated Manufacturing
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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.