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New Approach to Planning the Complex Movements of 6-DOF Industrial Robot Subjected to Acceleration Constraints

Pająk Grzegorz

Advances in Science and Technology. Research Journal

2024

Vol. 18, no 3

314--332

A method of trajectory planning with regards to joint velocity and acceleration constraints for industrial 6 DOF manipulator is presented. The task of the robot is to move to specified location in the workspace passing through intermediate waypoints. The proposed algorithm can be used to plan the task of the robot by autonomous systems in smart factories eliminating human participation in the robot programing process. Opposite to similar approaches it does not assume the type of function describing the motion of the robot. The trajectories generated using the proposed approach are smooth and provide smooth velocities and continuous joint accelerations. The motion is planned in such a way to fulfill joint velocity and acceleration constraints. Fulfillment of velocity limitations is accomplished by perturbing the manipulator motion close to velocity limits. To satisfy acceleration constraints a trajectory scaling approach carried out in limited periods of time is used. The results of the research are illustrated by simulations and experiments, in which an analysis of the method of performing robot tasks carried out using built-in algorithms and presented methods are performed.

Sliding mode control of the third order system with state constraints

Bartoszewicz A., Nowacka A.

Systems Science

2004

Vol. 30, no 2

35-44

In this paper, a new sliding mode control algorithm for the third order, nonlinear system subject to velocity and acceleration constraints is considered. The algorithm guarantees fast transient behaviour, zero steady state error and insensitivity of the system with respect to matched model uncertainty and external disturbance from the very beginning of the control process. For that purpose, the algorithm employs a time varying switching plane selected in such a way that at the initial time the representative point of the system belongs to the plane. Afterwards, the plane moves in a finite time towards the origin of the coordinate frame and then remains fixed. A proper choice of the plane parameters ensures non-oscillatory system response and the minimisation of the integral of the absolute value of the system position error.