Planning of Movements of Building Robots with Speed Optimization

Thomas Bock; Alexey Bulgakov

doi:10.20965/jrm.2016.p0158

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JRM Vol.28 No.2 pp. 158-161

doi: 10.20965/jrm.2016.p0158

(2016)

Paper:

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Planning of Movements of Building Robots with Speed Optimization

Thomas Bock^* and Alexey Bulgakov^**

^*Technical University Munich
St. Arcis 21, 80333 Munich, Germany

^**Southwest State University
St. 50. Let October 94, 305040 Kursk, Russia

Received:

October 20, 2015

Accepted:

March 9, 2016

Published:

April 20, 2016

Keywords:

motion control, speed optimization, trajectory planning, building robot

Abstract

This paper presents a method of planning trajectories for the motions of building robots according to the given points of support on the basis of a two-level interpolation. This method features the calculation of speeds at the intermediate points of the trajectory, while duly accounting for the limitations for controlling moments. The combination of analytical and searching methods of calculation makes it possible to obtain a solution during the interval of control.

Perspective view of robotic mounting system for large-panel building

Cite this article as:

T. Bock and A. Bulgakov, “Planning of Movements of Building Robots with Speed Optimization,” J. Robot. Mechatron., Vol.28 No.2, pp. 158-161, 2016.

Data files:

References

[1] T. Bock, A. Bulgakov, and D. Parshin, “Automation and robotization of mounting operations in building,” 18^th Int. Symposium on Automation and Robotics in Construction, pp. 11-14, Krakow, 2001.
[2] T. Bock, A. Bulgakov, and R. Neudorf, “Computer technologies in construction robots control,” 19^th Int. Symposium on Automation and Robotics in Construction, pp. 501-504, Washington, 2002.
[3] T. Bock, A. Bulgakov, and D. Parshin, “Motion planning of mounting robots with intelligent control,” 20^th Int. Symposium on Automation and Robotics in Construction, pp. 127-130, Eindhoven, 2003.
[4] T. Bock, A. Bulgakov, D. Parshin, and S. Tkachev, “Robotic mounting system for large-panel building,” 21^th Int. Symposium on Automation and Robotics in Construction, pp. 172-180, Seoul, 2004.
[5] Y. Xiao, K. Zhu, and H. C. Liaw, “Generalized synchronization control of multi-axis motion systems,” Control Engineering Practice, Vol.13 pp. 809-819, 2005.
DOI: 10.1016/j.conengprac.2004.09.005
[6] A. Bulgakov, D. Parshin, and A. Medvedev, “Integration of management systems for construction holdings on the basis of neuro network coordination,” 51^th Int. Science Colloquium, Mechanical engineering from macro to nano, pp. 125-129, Ilmenau, 2006.
[7] S. Seriani, A. Cortellessa, S. Belfio, M. Sortino, G. Totis, and P. Gallina, “Automatic path-planning algorithm for realistic decorative,” Automation in Construction, Vol.56, pp. 67-75, 2015.
DOI: 10.1016/j.autcon.2015.04.01

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] T. Bock, A. Bulgakov, and D. Parshin, “Automation and robotization of mounting operations in building,” 18^th Int. Symposium on Automation and Robotics in Construction, pp. 11-14, Krakow, 2001.

[2] [2] T. Bock, A. Bulgakov, and R. Neudorf, “Computer technologies in construction robots control,” 19^th Int. Symposium on Automation and Robotics in Construction, pp. 501-504, Washington, 2002.

[3] [3] T. Bock, A. Bulgakov, and D. Parshin, “Motion planning of mounting robots with intelligent control,” 20^th Int. Symposium on Automation and Robotics in Construction, pp. 127-130, Eindhoven, 2003.

[4] [4] T. Bock, A. Bulgakov, D. Parshin, and S. Tkachev, “Robotic mounting system for large-panel building,” 21^th Int. Symposium on Automation and Robotics in Construction, pp. 172-180, Seoul, 2004.

[5] [5] Y. Xiao, K. Zhu, and H. C. Liaw, “Generalized synchronization control of multi-axis motion systems,” Control Engineering Practice, Vol.13 pp. 809-819, 2005.
DOI: 10.1016/j.conengprac.2004.09.005

[6] [6] A. Bulgakov, D. Parshin, and A. Medvedev, “Integration of management systems for construction holdings on the basis of neuro network coordination,” 51^th Int. Science Colloquium, Mechanical engineering from macro to nano, pp. 125-129, Ilmenau, 2006.

[7] [7] S. Seriani, A. Cortellessa, S. Belfio, M. Sortino, G. Totis, and P. Gallina, “Automatic path-planning algorithm for realistic decorative,” Automation in Construction, Vol.56, pp. 67-75, 2015.
DOI: 10.1016/j.autcon.2015.04.01

Planning of Movements of Building Robots with Speed Optimization

Thomas Bock* and Alexey Bulgakov**

Thomas Bock^* and Alexey Bulgakov^**