Abstract
| 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 | |
| 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 | France |
| City | Toulouse |
| Period | 09/07/2017 → 14/07/2017 |
| Internet address |
| Series | IFAC-PapersOnLine |
|---|---|
| ISSN | 2405-8963 |
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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 proceeding › Article in proceeding › Research › peer-review
TY - GEN
T1 - Control of Wall Mounting Robot
AU - Sloth, Christoffer
AU - Pedersen, Rasmus
PY - 2017
Y1 - 2017
N2 - 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.
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
ER -