Control of Wall Mounting Robot: Practical Implementation and Experiments

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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.
Original languageEnglish
Book seriesIFAC-PapersOnLine
Volume53
Issue number2
Pages (from-to)10025-10030
Number of pages6
ISSN2405-8963
DOIs
Publication statusPublished - 2020
Event1st Virtual IFAC World Congress -
Duration: 11 Jul 202017 Jul 2020
Conference number: 1
https://www.ifac2020.org/

Conference

Conference1st Virtual IFAC World Congress
Number1
Period11/07/202017/07/2020
Internet address

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