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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

  • Czech description

Classification

  • Type

    J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database

  • CEP classification

  • 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

  • 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

  • UT code for WoS article

    001057414700001

  • EID of the result in the Scopus database

    2-s2.0-85169431294