Control of Wall Mounting Robot

Christoffer Sloth, Rasmus Pedersen

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-review

4 Citations (Scopus)
88 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 languageEnglish
Title of host publication20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings
Volume50
PublisherElsevier
Publication date2017
Edition1
Pages5648-5653
DOIs
Publication statusPublished - 2017
EventThe 20th World Congress of the International Federation of Automatic Control - Toulouse, France
Duration: 9 Jul 201714 Jul 2017
https://www.ifac2017.org/

Conference

ConferenceThe 20th World Congress of the International Federation of Automatic Control
CountryFrance
CityToulouse
Period09/07/201714/07/2017
Internet address
SeriesIFAC-PapersOnLine
ISSN2405-8963

Fingerprint

Mountings
Trajectories
Robots
Dynamic models
Actuators
Controllers

Cite this

Sloth, C., & Pedersen, R. (2017). Control of Wall Mounting Robot. In 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings (1 ed., Vol. 50, pp. 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. Vol. 50 1. ed. Elsevier, 2017. pp. 5648-5653 (IFAC-PapersOnLine).
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Sloth, C & Pedersen, R 2017, Control of Wall Mounting Robot. in 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings. 1 edn, vol. 50, Elsevier, IFAC-PapersOnLine, pp. 5648-5653, The 20th World Congress of the International Federation of Automatic Control, Toulouse, France, 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. Vol. 50 1. ed. Elsevier, 2017. p. 5648-5653 (IFAC-PapersOnLine).

Research output: Contribution to book/anthology/report/conference proceedingArticle in proceedingResearchpeer-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. In 20th IFAC World Congress Toulouse, France, 9–14 July 2017, Proceedings. 1 ed. Vol. 50. Elsevier. 2017. p. 5648-5653. (IFAC-PapersOnLine). https://doi.org/10.1016/j.ifacol.2017.08.1113