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http://dx.doi.org/10.5302/J.ICROS.2016.16.0015

Applying the Robust Force Tracking Controller to assist the Sealing Robot System on a Concrete Surface  

Cho, Cheol-Joo (Electrical Engineering, Graduate School of Knowledge-based Technology and Energy, Korea Polytechnic University)
Lim, Kye-Young (Energy and Electrical Engineering, Korea Polytechnic University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.22, no.6, 2016 , pp. 389-396 More about this Journal
Abstract
The sealing robot must be able to calculate the slope of a contact surface for complete adherence of the sealing on different concrete shapes. After the slope is obtained, the robot will track on the surface of the concrete, but this process contains an error in the actual purpose of the force command. The reason this a phenomenon occurs, the non-linearity of the contact surface and the end-effector, is due to parasitic coupling. Errors like make it difficult to measure accurately the respective factors. Therefore, it is regarded as a disturbance that occurs when it follows the work surface it. In this paper, we selected the friction coefficient of the surface as a control factor and designed a compensator to reduce effects of disturbance. Finally, in view of the non-linearity of the end-effector of a robot to contact surfaces directly, we propose a robust force tracking controller in the finite range for managing disturbances that occur during the sealing.
Keywords
concrete surface; crack sealing robot; disturbance compensation; non-linearity end-effector; robust force controller;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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