Name
Abstract | ||
|---|---|---|
The twin trowel concrete floor finishing robot consists of a pair of trowels, each of which rotates four plastering blades, and does not have any mechanism like wheels for its locomotion. However, while leveling the concrete floor, it can move in any direction with the unbalanced friction forces occurring between the trowels and the floor, which are controlled by adjusting the posture of the trowels. For the motion control of the robot, this paper discusses the following: First, the typical velocity feedback control method is not dependable because of the difficulties of measuring the robot velocity; secondly, the friction force, which drives the robot, is modeled when the robot is in translation motion; thirdly, the friction force decreases as the robot velocity increases, thus resulting in a saturated velocity dependent on the posture of the trowel; finally, the saturated velocity enables us to control the motion of the robot only by adjusting the posture of trowels without any feedback about the robot velocity. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1023/A:1023037004444 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
rotary trowel,unbalanced friction force,saturated velocity,motion control | Motion control,Friction force,Control theory,Control engineering,Velocity feedback,Engineering,Robot,Open-loop controller | Journal |
Volume | Issue | ISSN |
36 | 3 | 1573-0409 |
Citations | PageRank | References |
0 | 0.34 | 1 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Dong Hun Shin | 1 | 38 | 18.90 |
| Doo Ho Han | 2 | 0 | 0.68 |