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

Research output: Contribution to book/anthology/report/conference proceeding › Article in proceeding › Research › peer-review

10 Citations (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.

Original language	English
Title of host publication	20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings
Volume	50
Publisher	Elsevier
Publication date	2017
Edition	1
Pages	5648-5653
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1113
Publication status	Published - 2017
Event	The 20th World Congress of the International Federation of Automatic Control - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 https://www.ifac2017.org/

Conference

Conference	The 20th World Congress of the International Federation of Automatic Control
Country/Territory	France
City	Toulouse
Period	09/07/2017 → 14/07/2017
Internet address	https://www.ifac2017.org/

Series	IFAC-PapersOnLine
ISSN	2405-8963

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10.1016/j.ifacol.2017.08.1113

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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
Project: Research

Cite this

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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

PY - 2017

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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

VL - 50

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

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WallMoBot

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