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JRM Vol.28 No.2 pp. 158-161
doi: 10.20965/jrm.2016.p0158
(2016)

Paper:

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

Planning of Movements of Building Robots with Speed Optimization

Perspective view of robotic mounting system for large-panel building

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.

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. [1] T. Bock, A. Bulgakov, and D. Parshin, “Automation and robotization of mounting operations in building,” 18th 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,” 19th 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,” 20th Int. Symposium on Automation and Robotics in Construction, pp. 127-130, Eindhoven, 2003.
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    DOI: 10.1016/j.autcon.2015.04.01

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Last updated on Nov. 16, 2018