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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.
|Number of pages||6|
|Publication status||Published - 2020|
|Event||1st Virtual IFAC World Congress - |
Duration: 11 Jul 2020 → 17 Jul 2020
Conference number: 1
|Conference||1st Virtual IFAC World Congress|
|Period||11/07/2020 → 17/07/2020|
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- 1 Finished
Østergaard, J. E., Andresen, L., Larsen, O., Bak, T., Sloth, C., Hansen, K. D., Pedersen, R., Krogh, P. & Yousefizadeh, S.
01/02/2016 → 31/01/2019