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Open-loop Velocity Control of Concrete Floor Finishing Robots

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Abstract

The twin trowel concrete floor finishing robot consists of a pair of trowels, each of which rotates four plastering blades, and does not have any mechanism like wheels for its locomotion. However, while leveling the concrete floor, it can move in any direction with the unbalanced friction forces occurring between the trowels and the floor, which are controlled by adjusting the posture of the trowels. For the motion control of the robot, this paper discusses the following: First, the typical velocity feedback control method is not dependable because of the difficulties of measuring the robot velocity; secondly, the friction force, which drives the robot, is modeled when the robot is in translation motion; thirdly, the friction force decreases as the robot velocity increases, thus resulting in a saturated velocity dependent on the posture of the trowel; finally, the saturated velocity enables us to control the motion of the robot only by adjusting the posture of trowels without any feedback about the robot velocity.

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Authors and Affiliations

  1. Department of Mechanical Engineering, the University of Seoul, Korea

    Dong Hun Shin & Doo Ho Han

Authors
  1. Dong Hun Shin
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  2. Doo Ho Han
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Shin, D.H., Han, D.H. Open-loop Velocity Control of Concrete Floor Finishing Robots. Journal of Intelligent and Robotic Systems 36, 285–300 (2003). https://doi.org/10.1023/A:1023037004444

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  • DOI: https://doi.org/10.1023/A:1023037004444

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