Abstract
To use a 3D print for building, a method for jetting some materials should be different from the conventional method of an office type 3D print because the material usually used as mixed concrete with viscosity. This research discuss about SMCSPO based force estimation for a jetting rate control of the nozzle for simulation of the 3D building print. In this study, the concrete material is replaced with silicon in a pseudo 3D building print. When building an outer wall for simulation, it is important to jet a silicon with constant velocity and force. In order to jet the silicon with constant velocity and force, the reaction force occured from silicon should be estimated. This paper address that the jetting force is estimated by sliding perturbation observer and the actuator is controlled by sliding mode control algorithm.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Yoon, S.M., Lee, M.C.: An identification of the single rod hydraulic cylinder using signal compression method and applying SMCSPO. In: URAI 2014, pp. 438–443 (2014)
Song, Y.E., Lee, M.C., Kim, C.Y.: Sliding mode control with sliding perturbation observer for surgical robots. In: ISIE 2009, pp. 2153-2158 (2009)
Yoon, S.M., Lee, M.-C., Kim, C.Y.: Sliding perturbation observer based reaction force estimation method in surgical robot instrument. In: Lee, J., Lee, M.C., Liu, H., Ryu, J.-H. (eds.) ICIRA 2013, Part I. LNCS, vol. 8102, pp. 227–236. Springer, Heidelberg (2013)
Elmali, H., Olgac, N.: Sliding Mode Control With Perturbation Estimation (SMCSPE). International Journal of Control 56, 923–941 (1992)
Terra, M.J., Elmali, H., Olgac, N.: Sliding Mode Control With Perturbation Observer. Journal of Dynamics System, Measurement, and Control 119, 657–665 (1997)
Slotine, J.J., Hedrick, J.K., Misawa, E.A.: On Sliding Observers for Non-Linear Systems. ASME Journal of Dynamic System, Measurement and Control 109, 245–252 (1987)
Stewart, D.: A platform with six degree of freedom. In: Proc, of the Institute of Mechanical Engineering, vol. 180, pp. 317–386 (1966)
Lee, M.C., Aoshima, N.: Real time multi-input sliding mode control of a robot manipulator based on DSP. In: Proc. of SICE, pp. 1223–1228 (1993)
You, K.S., Lee, M.C., You, W.S.: Sliding Mode Controller with Sliding Perturbation Observer Based on Gain Optimization using Genetic Algorithm. KSME Int. J. 18(4), 630–639 (2004)
Stopp, S., et al.: A new method for printer calibration and contour accuracy manufacturing with 3D-print technology. Rapid Prototyping Journal 14(3), 167–172 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Cha, KG., Lee, MC., Kim, HJ. (2015). SMCSPO Based Force Estimation for Jetting Rate Control of 3D Printer Nozzle to Build a House. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-22879-2_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22878-5
Online ISBN: 978-3-319-22879-2
eBook Packages: Computer ScienceComputer Science (R0)