Control of Wall Mounting Robot: Practical Implementation and Experiments

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Abstrakt

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.
OriginalsprogEngelsk
BogserieIFAC-PapersOnLine
Vol/bind53
Udgave nummer2
Sider (fra-til)10025-10030
Antal sider6
ISSN2405-8963
DOI
StatusUdgivet - 2020
Begivenhed1st Virtual IFAC World Congress -
Varighed: 11 jul. 202017 jul. 2020
Konferencens nummer: 1
https://www.ifac2020.org/

Konference

Konference1st Virtual IFAC World Congress
Nummer1
Periode11/07/202017/07/2020
Internetadresse

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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.

    01/02/201631/01/2019

    Projekter: ProjektForskning

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