Experimental validation of a constrained control architecture for a multi-robot bricklayer system

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics Pub Date : 2024-01-23 DOI:10.1016/j.mechatronics.2024.103139

Michele Ambrosino , Fabian Boucher , Pierre Mengeot , Emanuele Garone

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Abstract

Robotics in construction is an emerging field that aims to automate various construction activities. Among the various innovative technologies for the construction sector, in this paper we focus on robotic solutions for the bricklaying task. In particular, we describe and explain in detail the implementation of a control framework for a recently introduced multi-robot bricklaying concept, specifically designed for laying activities with large and heavy blocks. The multi-robot system subject of this work is based on the collaboration of a robotic manipulator and a crane. The control architecture proposed to perform the construction task belongs to the Explicit Reference Governor (ERG) formalism. The ERG is a constrained control structure that enforces the constraints of the system and ensures that the robotic system operates correctly and safely. The efficiency of the proposed solution is confirmed by experimental validation on a custom-made crane and a KUKA LBR IIWA14R820 robotic arm.

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多机器人砌砖系统约束控制结构的实验验证

建筑机器人技术是一个新兴领域，旨在实现各种建筑活动的自动化。在建筑领域的各种创新技术中，我们在本文中重点介绍了用于砌砖任务的机器人解决方案。特别是，我们详细描述和解释了最近推出的多机器人砌砖概念的控制框架的实施情况，该概念专门设计用于大型和重型砖块的铺设活动。这项工作所涉及的多机器人系统基于机器人机械手和起重机的协作。为执行施工任务而提出的控制架构属于显式参考调速器（ERG）形式。ERG 是一种约束控制结构，可强制执行系统约束，确保机器人系统正确、安全地运行。通过在定制起重机和库卡 LBR IIWA14R820 机械臂上进行实验验证，证实了拟议解决方案的效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronics 工程技术-工程：电子与电气

CiteScore

5.90

自引率

9.10%

发文量

审稿时长

109 days

期刊介绍： Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. It relates to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control. The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integration and process and device control, and will attract a readership from across the industrial and academic research spectrum. Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based intelligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering.