Cooperative transport tasks with robots using adaptive non-conventional sliding mode control

Gracia, L; Solanes, JE; Muñoz-Benavent, P; Esparza, A; Valls Miro, J; Tornero, J

Cooperative transport tasks with robots using adaptive non-conventional sliding mode control

Gracia, L Solanes, JE Muñoz-Benavent, P Esparza, A Valls Miro, J

Tornero, J

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Publication Type:: Journal Article
Citation:: Control Engineering Practice, 2018, 78 pp. 35 - 55
Issue Date:: 2018-09-01

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Field	Value	Language
dc.contributor.author	Gracia, L	en_US
dc.contributor.author	Solanes, JE	en_US
dc.contributor.author	Muñoz-Benavent, P	en_US
dc.contributor.author	Esparza, A	en_US
dc.contributor.author	Valls Miro, J https://orcid.org/0000-0002-0083-7797	en_US
dc.contributor.author	Tornero, J	en_US
dc.date.available	2020-09-01T19:04:11Z
dc.date.issued	2018-09-01	en_US
dc.identifier.citation	Control Engineering Practice, 2018, 78 pp. 35 - 55	en_US
dc.identifier.issn	0967-0661	en_US
dc.identifier.uri	http://hdl.handle.net/10453/131019
dc.description.abstract	© 2018 Elsevier Ltd This work presents a hybrid position/force control of robots aimed at handling applications using multi-task and sliding mode ideas. The proposed robot control is based on a novel adaptive non-conventional sliding mode control used to robustly satisfy a set of inequality constraints defined to accomplish the cooperative transport task. In particular, these constraints are used to guarantee the reference parameters imposed by the task (e.g., keeping the load at a desired orientation) and to guide the robot using the human operator's forces detected by a force sensor located at the robot tool. Another feature of the proposal is the multi-layered nature of the strategy, where a set of four tasks are defined with different priorities. The effectiveness of the proposed adaptive non-conventional sliding mode control is illustrated by simulation results. Furthermore, the applicability and feasibility of the proposed robot control for transport tasks are substantiated by experimental results using a redundant 7R manipulator.	en_US
dc.relation.ispartof	Control Engineering Practice	en_US
dc.relation.isbasedon	10.1016/j.conengprac.2018.06.005	en_US
dc.rights	info:eu-repo/semantics/openAccess
dc.subject.classification	Industrial Engineering & Automation	en_US
dc.title	Cooperative transport tasks with robots using adaptive non-conventional sliding mode control	en_US
dc.type	Journal Article
utslib.citation.volume	78	en_US
utslib.for	0913 Mechanical Engineering	en_US
utslib.for	0102 Applied Mathematics	en_US
utslib.for	0906 Electrical and Electronic Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access	*
pubs.publication-status	Published	en_US
pubs.volume	78	en_US

Abstract:

© 2018 Elsevier Ltd This work presents a hybrid position/force control of robots aimed at handling applications using multi-task and sliding mode ideas. The proposed robot control is based on a novel adaptive non-conventional sliding mode control used to robustly satisfy a set of inequality constraints defined to accomplish the cooperative transport task. In particular, these constraints are used to guarantee the reference parameters imposed by the task (e.g., keeping the load at a desired orientation) and to guide the robot using the human operator's forces detected by a force sensor located at the robot tool. Another feature of the proposal is the multi-layered nature of the strategy, where a set of four tasks are defined with different priorities. The effectiveness of the proposed adaptive non-conventional sliding mode control is illustrated by simulation results. Furthermore, the applicability and feasibility of the proposed robot control for transport tasks are substantiated by experimental results using a redundant 7R manipulator.

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http://hdl.handle.net/10453/131019