Pre-acting manipulator for shock isolation in steel construction

Kyungmo Jung, Dongnam Kim, Kihyun Bae, Daehie Hong, Shin Suk Park, Myo Taeg Lim

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

2 Citations (Scopus)

Abstract

This paper describes the development of robotic manipulator's shock isolation control algorithm which provides stable and efficient gripping of a pendulum-motion object wire-suspended by a crane. This control algorithm requires dynamic modeling of the hanging object to estimate the amount of the shock. The dynamic model mimics the steel beam suspended by the crane and the robot to grip the beam in 3-dimesional space. Under limited impact, the manipulator grips the object with pre-acting control that can increase the duration of the impact time. In this paper, assuming that location information is provided by a vision system, dynamic simulations are presented, which is very similar to the actual steel beam assembly in building construction environment. The goal of this paper is to evaluate how force, vibration, and stabilization time exerted on the entire robot arm system change before and after applying 'pre-acting control algorithm' through the simulations. Also, based on the simulation results, it was concluded that this pre-acting control algorithm can be efficiently applied to real construction sites as well as other industrial sites in the future.

Original languageEnglish
Title of host publicationICCAS 2007 - International Conference on Control, Automation and Systems
Pages1203-1208
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
EventInternational Conference on Control, Automation and Systems, ICCAS 2007 - Seoul, Korea, Republic of
Duration: 2007 Oct 172007 Oct 20

Other

OtherInternational Conference on Control, Automation and Systems, ICCAS 2007
CountryKorea, Republic of
CitySeoul
Period07/10/1707/10/20

Fingerprint

Steel construction
Manipulators
Cranes
Robots
Steel
Pendulums
Dynamic models
Robotics
Stabilization
Wire
Computer simulation

Keywords

  • Compliance control
  • Construction automation
  • Pre-acting control
  • Robot manipulator
  • Shock isolation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Jung, K., Kim, D., Bae, K., Hong, D., Park, S. S., & Lim, M. T. (2007). Pre-acting manipulator for shock isolation in steel construction. In ICCAS 2007 - International Conference on Control, Automation and Systems (pp. 1203-1208). [4406517] https://doi.org/10.1109/ICCAS.2007.4406517

Pre-acting manipulator for shock isolation in steel construction. / Jung, Kyungmo; Kim, Dongnam; Bae, Kihyun; Hong, Daehie; Park, Shin Suk; Lim, Myo Taeg.

ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 1203-1208 4406517.

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

Jung, K, Kim, D, Bae, K, Hong, D, Park, SS & Lim, MT 2007, Pre-acting manipulator for shock isolation in steel construction. in ICCAS 2007 - International Conference on Control, Automation and Systems., 4406517, pp. 1203-1208, International Conference on Control, Automation and Systems, ICCAS 2007, Seoul, Korea, Republic of, 07/10/17. https://doi.org/10.1109/ICCAS.2007.4406517
Jung K, Kim D, Bae K, Hong D, Park SS, Lim MT. Pre-acting manipulator for shock isolation in steel construction. In ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. p. 1203-1208. 4406517 https://doi.org/10.1109/ICCAS.2007.4406517
Jung, Kyungmo ; Kim, Dongnam ; Bae, Kihyun ; Hong, Daehie ; Park, Shin Suk ; Lim, Myo Taeg. / Pre-acting manipulator for shock isolation in steel construction. ICCAS 2007 - International Conference on Control, Automation and Systems. 2007. pp. 1203-1208
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