Intelligent Control for Robotic Rebar Bending

Abstract

Intelligent Control for Robotic Rebar Bending P.S. Dunston, L.E. Bernold Pages 101-108 (1993 Proceedings of the 10th ISARC, Houston, USA, ISBN 9780444815231, ISSN 2413-5844) Abstract: Computers are becoming essential tools for integrating design, planning, fabrication, and construction. Computer-controlled construction equipment are poised to receive information from data generated in the design phase. The robotic execution of construction operations, however, depends on complex models for autonomous and intelligent control. This paper discusses the implementation of a strategy for the robotic bending of straight steel reinforcing bars (rebar) and presents the results of experimental works with an actual testing facility. Cold forming principles and the mechanical behaviour of rebar are examined to develop rules for a real-time controller. Focus is placed upon exploring the dynamics between the bender and the rebar. The concepts of impedance, admittance, and compliance of both the machine and the environment are discussed in the context of control strategy development. Keywords: No keywords DOI: https://doi.org/10.22260/ISARC1993/0014 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley