Title :
A vehicle for a mobile masonry robot
Author :
Steffani, H.F. ; Fliedner, J. ; Gapp, R.
Author_Institution :
Tech. Univ. Chemnitz, Germany
Abstract :
Within an ESPRIT III project a mobile masonry robot was designed. After a global project overview the kinematic equations of a vehicle with three degrees of freedom are derived. The structure for the low-level controller can easily be adapted to several combinations of sensors like path-line, compass, dead-reckoning or absolute posture of the vehicle. A simple interpolator is integrated but can be replaced by a more sophisticated solution
Keywords :
construction industry; industrial robots; interpolation; mobile robots; robot kinematics; ESPRIT III project; absolute posture; compass; dead-reckoning; interpolator; kinematic equations; low-level controller; mobile masonry robot vehicle; path-line sensor; three degrees of freedom; Buildings; Engines; Kinematics; Mobile robots; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots; Vehicle driving; Wheels;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1997. IECON 97. 23rd International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3932-0
DOI :
10.1109/IECON.1997.668510
