Control of Wall Mounting Robot

Christoffer Sloth, Rasmus Pedersen

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

4 Citationer (Scopus)
79 Downloads (Pure)

Resumé

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.
OriginalsprogEngelsk
Titel20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings
Vol/bind50
ForlagElsevier
Publikationsdato2017
Udgave1
Sider5648-5653
DOI
StatusUdgivet - 2017
BegivenhedThe 20th World Congress of the International Federation of Automatic Control - Toulouse, Frankrig
Varighed: 9 jul. 201714 jul. 2017
https://www.ifac2017.org/

Konference

KonferenceThe 20th World Congress of the International Federation of Automatic Control
LandFrankrig
ByToulouse
Periode09/07/201714/07/2017
Internetadresse
NavnIFAC-PapersOnLine
ISSN2405-8963

Fingerprint

Mountings
Trajectories
Robots
Dynamic models
Actuators
Controllers

Citer dette

Sloth, C., & Pedersen, R. (2017). Control of Wall Mounting Robot. I 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings (1 udg., Bind 50, s. 5648-5653). Elsevier. IFAC-PapersOnLine https://doi.org/10.1016/j.ifacol.2017.08.1113
Sloth, Christoffer ; Pedersen, Rasmus. / Control of Wall Mounting Robot. 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings. Bind 50 1. udg. Elsevier, 2017. s. 5648-5653 (IFAC-PapersOnLine).
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Sloth, C & Pedersen, R 2017, Control of Wall Mounting Robot. i 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings. 1 udg, bind 50, Elsevier, IFAC-PapersOnLine, s. 5648-5653, The 20th World Congress of the International Federation of Automatic Control, Toulouse, Frankrig, 09/07/2017. https://doi.org/10.1016/j.ifacol.2017.08.1113

Control of Wall Mounting Robot. / Sloth, Christoffer; Pedersen, Rasmus.

20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings. Bind 50 1. udg. Elsevier, 2017. s. 5648-5653 (IFAC-PapersOnLine).

Publikation: Bidrag til bog/antologi/rapport/konference proceedingKonferenceartikel i proceedingForskningpeer review

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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.

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Sloth C, Pedersen R. Control of Wall Mounting Robot. I 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings. 1 udg. Bind 50. Elsevier. 2017. s. 5648-5653. (IFAC-PapersOnLine). https://doi.org/10.1016/j.ifacol.2017.08.1113