Title :
Robotic tile placement through adaptive control strategies
Author :
Buttazzo, Giorgio ; Dario, Paolo
Author_Institution :
ARTS Lab., Scuola Superiore S. Anna, Pisa, Italy
Abstract :
The authors investigate the use of a robot manipulator for the execution of a construction task traditionally carried out by human operators, such the placing of ceramic tiles on a surface. The motivations for a robotic approach to this field are discussed, and the specific subtask identified for investigation is described. The execution of the tile posing procedures has been investigated using a PUMA 562 manipulator. The system architecture and the active force control methods implemented for optimizing these procedures are described, and some preliminary experimental results are presented.<>
Keywords :
adaptive control; construction industry; force control; robots; PUMA 562 manipulator; active force control; adaptive control strategies; ceramic tiles; robotic tile placement; system architecture; Adaptive control; Ceramics; Floors; Force control; Humans; Manipulators; Orbital robotics; Robotics and automation; Service robots; Tiles;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240623