미장로봇의 운동제어

The Motion Control of Concrete Floor Finishing Robot

The 2-trowel type concrete floor finishing robot can move in any direction by adjusting the posture or trowels without any wheels. Since the quality of the smoothed and polished concrete floor is determined by plastering speed, we need to control the velocity of the robot. However, we cannot use the typical motion control method because it is very difficult to measure the velocity of the robot, in contrast to the mobile robots with wheels. To overcome this difficulty, the following are studied in this paper: we found that the robot dynamics has the disturbance depending on its translational speed, and showed that there exists the saturated velocity of the robot which is set by the posture of the trowels, and obtained the relationship between the saturated velocity and the posture in the translation. The result enables us to control the motion of the robot only by adjusting the posture of trowels without measuring the velocity of the robot. Currently, we built the troweling robot and are experimenting its performance with the proposed motion control method.