Control of Wall Mounting Robot: Practical Implementation and Experiments

Malte Rørmose Damgaard; Rasmus Pedersen; Karl Damkjær Hansen; Thomas Bak

doi:10.1016/j.ifacol.2020.12.2722

Control of Wall Mounting Robot: Practical Implementation and Experiments

Malte Rørmose Damgaard, Rasmus Pedersen, Karl Damkjær Hansen, Thomas Bak

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

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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 language	English
Book series	IFAC-PapersOnLine
Volume	53
Issue number	2
Pages (from-to)	10025-10030
Number of pages	6
ISSN	2405-8963
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.2722
Publication status	Published - 2020
Event	1st Virtual IFAC World Congress - Duration: 11 Jul 2020 → 17 Jul 2020 Conference number: 1 https://www.ifac2020.org/

Conference

Conference	1st Virtual IFAC World Congress
Number	1
Period	11/07/2020 → 17/07/2020
Internet address	https://www.ifac2020.org/

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10.1016/j.ifacol.2020.12.2722Licence: CC BY-NC-ND 4.0

1-s2.0-S2405896320334856-mainFinal published version, 747 KBLicence: CC BY-NC-ND 4.0

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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.
01/02/2016 → 31/01/2019
Project: Research

Cite this

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title = "Control of Wall Mounting Robot: Practical Implementation and Experiments",

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.",

author = "Damgaard, {Malte R{\o}rmose} and Rasmus Pedersen and Hansen, {Karl Damkj{\ae}r} and Thomas Bak",

year = "2020",

doi = "10.1016/j.ifacol.2020.12.2722",

language = "English",

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N1 - Conference code: 1

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U2 - 10.1016/j.ifacol.2020.12.2722

DO - 10.1016/j.ifacol.2020.12.2722

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JF - IFAC-PapersOnLine

IS - 2

Y2 - 11 July 2020 through 17 July 2020

ER -

Control of Wall Mounting Robot: Practical Implementation and Experiments

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WallMoBot

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