Closed-loop control of hydraulic telescopic handler

Činkelj, Justin; Kamnik, Roman; Cepon, Peter; Mihelj, Matjaž; Munih, Marko

doi:10.1016/j.autcon.2010.07.012

Cited by 32 publications

(17 citation statements)

References 19 publications

(25 reference statements)

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“…As shown in Figure 2, these robotic systems are usually combined with two relatively independent systems, respectively for macro and micro motion. The macro motion manipulator is usually a commercially available mini-excavator [36][37][38][39][40] or an aerial lift [36,41,42] to lift and move the panels, and the micro motion manipulator is usually a multi DOF robotic end-effector for precise handling of the panels. The installation is based on human-robot cooperative manipulation, which requires an intelligent manual robot controller to feedback the reaction forces from the environment.…”

Section: Application In Faç Ade Installationmentioning

confidence: 99%

Application of Automation and Robotics Technology in High-Rise Building Construction: An Overview

Cai¹,

Ma²,

Skibniewski³

et al. 2018

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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More and more high-rise buildings are being erected in extensively populated countries such as China nowadays with the requirement of higher living standards. However, on the one hand, with the development of aging society, the labor shortage has become a remarkable problem; on the other hand, the danger and difficulties in construction increase significantly with the height of the buildings. Thus, the application of automation and robotics technology is expected to ease such problems and concerns. Up to now, various methods and systems using automation and robotics technology have been proposed to be used in high-rise building construction. This paper summarizes the major advance on the application of automation and robotics technology in high-rise building construction through a literature survey and suggests directions of further research in this field. First of all, the research scope, the method and the results of the literature survey are presented. Then, based on the survey results, the relevant applications are summarized regarding the three parts of high-rise buildings, i.e., earth and foundation work, superstructure erection and faç ade installation. Finally, the future directions and opportunities mentioned in existing research are summarized and discussed. This paper provides a valuable aid in future research and application of automation and robotics technology for high-rise buildings.

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Section: Application In Faç Ade Installationmentioning

confidence: 99%

Application of Automation and Robotics Technology in High-Rise Building Construction: An Overview

Cai¹,

Ma²,

Skibniewski³

et al. 2018

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

View full text Add to dashboard Cite

show abstract

“…To overcome the negative effects of the dead-zone nonlinearity, many works based on modern techniques have been published. Direct dead-zone inverse is used to compensate the negative effects of the dead-zone nonlinearity in [3,6,8,[14][15][16][17], but discontinuous control law will be established by adopting this scheme. In [18], a soft compensation scheme to avoid the discontinuity is proposed, but an error will be introduced in compensation process.…”

Section: Journal Of Control Science and Engineeringmentioning

confidence: 99%

“…With respect to truck mounted concrete pump, an automatic pouring approach is proposed for the repetitive tasks [2]. To accomplish semiautomated assembly of facade panels, an automatic control system of an upgraded telescopic handler is proposed [3].…”

Section: Introductionmentioning

confidence: 99%

Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System

Liu

Gao

Yang

et al. 2015

Journal of Control Science and Engineering

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Joint motion control of a 52-meter-long five-boom system driven by proportional hydraulic system is developed. It has been considered difficult due to strong nonlinearities and parametric uncertainties, the effect of which increases with the size of booms. A human simulated intelligent control scheme is developed to improve control performance by modifying control mode and control parameters. In addition, considering the negative effects caused by frequent and redundant reverse actions of the proportional valve, a double-direction compensation scheme is proposed to deal with the dead-zone nonlinearity of proportional valve. Sinusoidal motions are implemented on a real boom system. The results indicate that HSIC controller can improve control accuracy, and deadzone nonlinearity is effectively compensated by proposed compensation scheme without introducing frequent reverse actions of proportional valve.

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“…Instead of traveling only through preplanned paths, the proposed robotic tower-crane has shown the feasibility under various jobsite conditions . Miscellaneous research on lifting machine components such as tower-crane hook blocks and hydraulic telescopic handlers (Cinkelj et al, 2010) has also been published.…”

Section: Robotics and Manipulators For Safetymentioning

confidence: 99%

Research Trends in Information Technology Applications in Construction Safety Engineering and Management

Skibniewski

2014

Front. Eng

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Through analysis of articles published from 2000 to March 2014 in Automaton in Construction (AUT-CON), an international research journal published by Elsevier, this paper summarizes the topics of research and the institutions worldwide where research was conducted in construction safety engineering and management. Seventy-one articles published during this time focused on Information Technology (IT) applications in this field were selected for analysis. The underlying research topics and their related IT implementations are discussed, and research trends in allied specialties are identified.

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Closed-loop control of hydraulic telescopic handler

Cited by 32 publications

References 19 publications

Application of Automation and Robotics Technology in High-Rise Building Construction: An Overview

Application of Automation and Robotics Technology in High-Rise Building Construction: An Overview

Human Simulated Intelligent Control with Double-Direction Dead-Zone Compensation for Joint Motion Control of a Large-Sized Boom System

Research Trends in Information Technology Applications in Construction Safety Engineering and Management

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