An Open PLC-Based Robot Control System for 3D Concrete Printing
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F46747885%3A24220%2F23%3A00011388" target="_blank" >RIV/46747885:24220/23:00011388 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.3390/robotics12040096" target="_blank" >https://doi.org/10.3390/robotics12040096</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.3390/robotics12040096" target="_blank" >10.3390/robotics12040096</a>
Alternative languages
Result language
angličtina
Original language name
An Open PLC-Based Robot Control System for 3D Concrete Printing
Original language description
Three-dimensional concrete printing technology is currently a very topical and developing subject. There is a large number of applications worldwide where this technology can be used. In connection with this technology, the development of custom industrial robotic systems and their control is essential. Conventional closed-loop control system platforms do not provide sufficiently flexible solutions. This paper presents a control system for a unique printing robot that, thanks to its openness and unified platform, will enable simple and fast analysis and testing of key aspects in terms of control and guidance of the printing robot for additive manufacturing applications in the construction industry. The aim of this paper is to introduce the concept of an open PLC-based control system and to demonstrate its usefulness in the task of designing and implementing model-based control. All steps, from the analysis of the printing robot itself and identification of inertial parameters to the actual design and implementation of the control, can be executed in a unified Matlab/Simulink environment using various add-ons and toolboxes thanks to the open control system platform. This solution brings significant savings in terms of programming and prototyping time. The open control system was used to control an experimental model of a printing robot, serving as a test bed for the final version of the printing robot, and the results obtained were evaluated.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
<a href="/en/project/EF16_025%2F0007424" target="_blank" >EF16_025/0007424: 3D Print in civil engineering and architecture</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
Robotics
ISSN
2218-6581
e-ISSN
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Volume of the periodical
12
Issue of the periodical within the volume
4
Country of publishing house
CH - SWITZERLAND
Number of pages
23
Pages from-to
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UT code for WoS article
001057414700001
EID of the result in the Scopus database
2-s2.0-85169431294