A Mechatronic Slip Robotic System with Adaptive Control for Erecting Monolith Objects

摘要

A Mechatronic Slip Robotic System with Adaptive Control for Erecting Monolith Objects Thomas Bock, Alexej Bulgakow, Oleg Parshin, Dimitry Parshin Abstract: The paper considers technological features of erecting monolith objects with a variable cross-section, presents the formulated requirements to the mechatronic complex and the principles of its construction and gives the complex structure. Great attention is paid to the problems of the mechatronic complex movements planning taking into account restrictions on control and disturbing influences affecting the structure being erected. In conclusion the paper deals with the problems of forming adaptive laws of for controlling joint coordinates ensuring development of the planned trajectory. Keywords: monolith construction, slip forms, mechatronic robotic system, planning, control algorithms, visual sensor, mobile robots, planning of the robot’s movement, kinematics DOI: https://doi.org/10.22260/ISARC2004/0066 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley