Control of Wall Mounting Robot

Christoffer Sloth; Rasmus Pedersen

doi:10.1016/j.ifacol.2017.08.1113

Control of Wall Mounting Robot

Christoffer Sloth, Rasmus Pedersen

Publikation: Bidrag til bog/antologi/rapport/konference proceeding › Konferenceartikel i proceeding › Forskning › peer review

10 Citationer (Scopus)

204 Downloads (Pure)

Abstract

This paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path parameter for the trajectory is adapted online. We demonstrate the method on a dynamic model of WallMo using predefined motion primitives, i.e. we consider path-constrained trajectory generation. It is seen that the control scheme results in improved trajectory tracking.

Originalsprog	Engelsk
Titel	20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings
Vol/bind	50
Forlag	Elsevier
Publikationsdato	2017
Udgave	1
Sider	5648-5653
DOI	https://doi.org/10.1016/j.ifacol.2017.08.1113
Status	Udgivet - 2017
Begivenhed	The 20th World Congress of the International Federation of Automatic Control - Toulouse, Frankrig Varighed: 9 jul. 2017 → 14 jul. 2017 https://www.ifac2017.org/

Konference

Konference	The 20th World Congress of the International Federation of Automatic Control
Land/Område	Frankrig
By	Toulouse
Periode	09/07/2017 → 14/07/2017
Internetadresse	https://www.ifac2017.org/

Navn	IFAC-PapersOnLine
ISSN	2405-8963

Adgang til dokumentet

10.1016/j.ifacol.2017.08.1113

Open Access articleForlagets udgivne version, 508 KB

AUB Link

Søg efter materialet i Aalborg Universitetsbiblioteks søgemaskine

WallMoBot
Østergaard, J. E., Andresen, L., Larsen, O., Bak, T., Sloth, C., Hansen, K. D., Pedersen, R., Krogh, P. & Yousefizadeh, S.
01/02/2016 → 31/01/2019
Projekter: Projekt › Forskning

Citationsformater

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title = "Control of Wall Mounting Robot",

abstract = "This paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path parameter for the trajectory is adapted online. We demonstrate the method on a dynamic model of WallMo using predefined motion primitives, i.e. we consider path-constrained trajectory generation. It is seen that the control scheme results in improved trajectory tracking.",

author = "Christoffer Sloth and Rasmus Pedersen",

year = "2017",

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AU - Sloth, Christoffer

AU - Pedersen, Rasmus

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AB - This paper presents a method for designing controllers for trajectory tracking with actuator constraints. In particular, we consider a joystick-controlled wall mounting robot called WallMo. In contrast to previous works, a model-free approach is taken to the control problem, where the path parameter for the trajectory is adapted online. We demonstrate the method on a dynamic model of WallMo using predefined motion primitives, i.e. we consider path-constrained trajectory generation. It is seen that the control scheme results in improved trajectory tracking.

U2 - 10.1016/j.ifacol.2017.08.1113

DO - 10.1016/j.ifacol.2017.08.1113

M3 - Article in proceeding

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T3 - IFAC-PapersOnLine

SP - 5648

EP - 5653

BT - 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings

PB - Elsevier

T2 - The 20th World Congress of the International Federation of Automatic Control

Y2 - 9 July 2017 through 14 July 2017

ER -

Control of Wall Mounting Robot

Abstract

Konference

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AUB Link

Fingeraftryk

Projekter

WallMoBot

Citationsformater