Developement of the gripping control algorithm for wire-suspended object in steel construction

Kyungmo Jung, Dongnam Kim, Kihyun Bae, Daehie Hong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationAutomation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction
Pages151-155
Number of pages5
Publication statusPublished - 2007
Event24th International Symposium on Automation and Robotics in Construction, ISARC 2007 - Kochi, India
Duration: 2007 Sep 192007 Sep 21

Publication series

NameAutomation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction

Other

Other24th International Symposium on Automation and Robotics in Construction, ISARC 2007
CountryIndia
CityKochi
Period07/9/1907/9/21

Keywords

  • Gripping control
  • Pre-acting control
  • Robot
  • Shock isolator
  • Steel construction

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Building and Construction

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  • Cite this

    Jung, K., Kim, D., Bae, K., & Hong, D. (2007). Developement of the gripping control algorithm for wire-suspended object in steel construction. In Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction (pp. 151-155). (Automation and Robotics in Construction - Proceedings of the 24th International Symposium on Automation and Robotics in Construction).