TY - GEN
T1 - Pre-acting manipulator for shock isolation in steel construction
AU - Jung, Kyungmo
AU - Kim, Dongnam
AU - Bae, Kihyun
AU - Hong, Daehie
AU - Park, Shinsuk
AU - Lim, Myo Taeg
PY - 2007
Y1 - 2007
N2 - This paper describes the development of robotic manipulator's shock isolation control algorithm which provides stable and efficient gripping of a pendulum-motion object wire-suspended by a crane. This control algorithm requires dynamic modeling of the hanging object to estimate the amount of the shock. The dynamic model mimics the steel beam suspended by the crane and the robot to grip the beam in 3-dimesional space. Under limited impact, the manipulator grips the object with pre-acting control that can increase the duration of the impact time. In this paper, assuming that location information is provided by a vision system, dynamic simulations are presented, which is very similar to the actual steel beam assembly in building construction environment. The goal of this paper is to evaluate how force, vibration, and stabilization time exerted on the entire robot arm system change before and after applying 'pre-acting control algorithm' through the simulations. Also, based on the simulation results, it was concluded that this pre-acting control algorithm can be efficiently applied to real construction sites as well as other industrial sites in the future.
AB - This paper describes the development of robotic manipulator's shock isolation control algorithm which provides stable and efficient gripping of a pendulum-motion object wire-suspended by a crane. This control algorithm requires dynamic modeling of the hanging object to estimate the amount of the shock. The dynamic model mimics the steel beam suspended by the crane and the robot to grip the beam in 3-dimesional space. Under limited impact, the manipulator grips the object with pre-acting control that can increase the duration of the impact time. In this paper, assuming that location information is provided by a vision system, dynamic simulations are presented, which is very similar to the actual steel beam assembly in building construction environment. The goal of this paper is to evaluate how force, vibration, and stabilization time exerted on the entire robot arm system change before and after applying 'pre-acting control algorithm' through the simulations. Also, based on the simulation results, it was concluded that this pre-acting control algorithm can be efficiently applied to real construction sites as well as other industrial sites in the future.
KW - Compliance control
KW - Construction automation
KW - Pre-acting control
KW - Robot manipulator
KW - Shock isolation
UR - http://www.scopus.com/inward/record.url?scp=48349105647&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=48349105647&partnerID=8YFLogxK
U2 - 10.1109/ICCAS.2007.4406517
DO - 10.1109/ICCAS.2007.4406517
M3 - Conference contribution
AN - SCOPUS:48349105647
SN - 8995003871
SN - 9788995003879
T3 - ICCAS 2007 - International Conference on Control, Automation and Systems
SP - 1203
EP - 1208
BT - ICCAS 2007 - International Conference on Control, Automation and Systems
T2 - International Conference on Control, Automation and Systems, ICCAS 2007
Y2 - 17 October 2007 through 20 October 2007
ER -