Control of Wall Mounting Robot: Practical Implementation and Experiments

Malte Rørmose Damgaard; Rasmus Pedersen; Karl Damkjær Hansen; Thomas Bak

doi:10.1016/j.ifacol.2020.12.2722

Control of Wall Mounting Robot: Practical Implementation and Experiments

Malte Rørmose Damgaard, Rasmus Pedersen, Karl Damkjær Hansen, Thomas Bak

Publikation: Bidrag til tidsskrift › Konferenceartikel i tidsskrift › Forskning › peer review

1 Citationer (Scopus)

97 Downloads (Pure)

Abstract

Robots are gaining traction in all industries, not only to replace manual labour but also to collaborate and enhance both human and robot skills and abilities. In this paper, we revisit the trajectory following control design for the WallMo Robot, which is a collaborative wall mounting robot used in the construction industry. The theoretical foundation for a model-free control strategy, handling actuator constraints was presented by Sloth and Pedersen (2017) and verified through simulations. In this paper, the research is extended to also include practical implementation considerations and experimental testing on a real WallMo robot. The implemented control strategy differs from what was presented earlier, but still exhibits tight trajectory tracking - solving the control problem in a practical setting.

Originalsprog	Engelsk
Bogserie	IFAC-PapersOnLine
Vol/bind	53
Udgave nummer	2
Sider (fra-til)	10025-10030
Antal sider	6
ISSN	2405-8963
DOI	https://doi.org/10.1016/j.ifacol.2020.12.2722
Status	Udgivet - 2020
Begivenhed	1st Virtual IFAC World Congress - Varighed: 11 jul. 2020 → 17 jul. 2020 Konferencens nummer: 1 https://www.ifac2020.org/

Konference

Konference	1st Virtual IFAC World Congress
Nummer	1
Periode	11/07/2020 → 17/07/2020
Internetadresse	https://www.ifac2020.org/

Adgang til dokumentet

10.1016/j.ifacol.2020.12.2722Licens: CC BY-NC-ND 4.0

1-s2.0-S2405896320334856-mainForlagets udgivne version, 747 KBLicens: CC BY-NC-ND 4.0

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: Practical Implementation and Experiments",

abstract = "Robots are gaining traction in all industries, not only to replace manual labour but also to collaborate and enhance both human and robot skills and abilities. In this paper, we revisit the trajectory following control design for the WallMo Robot, which is a collaborative wall mounting robot used in the construction industry. The theoretical foundation for a model-free control strategy, handling actuator constraints was presented by Sloth and Pedersen (2017) and verified through simulations. In this paper, the research is extended to also include practical implementation considerations and experimental testing on a real WallMo robot. The implemented control strategy differs from what was presented earlier, but still exhibits tight trajectory tracking - solving the control problem in a practical setting.",

author = "Damgaard, {Malte R{\o}rmose} and Rasmus Pedersen and Hansen, {Karl Damkj{\ae}r} and Thomas Bak",

year = "2020",

doi = "10.1016/j.ifacol.2020.12.2722",

language = "English",

volume = "53",

pages = "10025--10030",

journal = "IFAC-PapersOnLine",

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note = "1st Virtual IFAC World Congress ; Conference date: 11-07-2020 Through 17-07-2020",

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T2 - 1st Virtual IFAC World Congress

AU - Damgaard, Malte Rørmose

AU - Pedersen, Rasmus

AU - Hansen, Karl Damkjær

AU - Bak, Thomas

N1 - Conference code: 1

PY - 2020

Y1 - 2020

N2 - Robots are gaining traction in all industries, not only to replace manual labour but also to collaborate and enhance both human and robot skills and abilities. In this paper, we revisit the trajectory following control design for the WallMo Robot, which is a collaborative wall mounting robot used in the construction industry. The theoretical foundation for a model-free control strategy, handling actuator constraints was presented by Sloth and Pedersen (2017) and verified through simulations. In this paper, the research is extended to also include practical implementation considerations and experimental testing on a real WallMo robot. The implemented control strategy differs from what was presented earlier, but still exhibits tight trajectory tracking - solving the control problem in a practical setting.

AB - Robots are gaining traction in all industries, not only to replace manual labour but also to collaborate and enhance both human and robot skills and abilities. In this paper, we revisit the trajectory following control design for the WallMo Robot, which is a collaborative wall mounting robot used in the construction industry. The theoretical foundation for a model-free control strategy, handling actuator constraints was presented by Sloth and Pedersen (2017) and verified through simulations. In this paper, the research is extended to also include practical implementation considerations and experimental testing on a real WallMo robot. The implemented control strategy differs from what was presented earlier, but still exhibits tight trajectory tracking - solving the control problem in a practical setting.

U2 - 10.1016/j.ifacol.2020.12.2722

DO - 10.1016/j.ifacol.2020.12.2722

M3 - Conference article in Journal

SN - 2405-8963

VL - 53

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EP - 10030

JO - IFAC-PapersOnLine

JF - IFAC-PapersOnLine

IS - 2

Y2 - 11 July 2020 through 17 July 2020

ER -

Control of Wall Mounting Robot: Practical Implementation and Experiments

Abstract

Konference

Adgang til dokumentet

AUB Link

Fingeraftryk

Projekter

WallMoBot

Citationsformater