Development of the Gripping Control Algorithm for Wire-Suspended Object in Steel Construction

Abstract

Development of the Gripping Control Algorithm for Wire-Suspended Object in Steel Construction Kyungmo Jung, Kihyun Bae, Dongnam Kim, Daehie Hong Pages 151-155 (2007 Proceedings of the 24th ISARC, Kochi, India, ISBN 978-81-904235-1-9, ISSN 2413-5844) Abstract: Robot system used in building construction sites can efficiently reduce construction time and increase safety by replacing human in dangerous operations. This paper describes the development of a robotic manipulator control algorithm which provides stable and efficient gripping of a pendulum-like object. The pendulum object mimics the construction materials hanging from tower crane, such as steel beam and column. The robot should be able to handle the heavy objects in order to be used in the building construction sites. This control algorithm requires dynamic modeling of the hanging object. To simplify the analysis, the dynamic modeling was limited to the 2 dimensional pendulum movements in x-y plane. In order to achieve the stable and efficient gripping, a shock isolator is designed using a pre-acting control. Keywords: Robot, Gripping Control, Pre-Acting Control, Shock Isolator, Steel Construction DOI: https://doi.org/10.22260/ISARC2007/0028 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley