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Experimental validation of a constrained control architecture for a multi-robot bricklayer system

par Ambrosino, Michele ;Boucher, Fabian;Mengeot, Pierre;Garone, Emanuele
Référence Mechatronics, 98, 103139
Publication Publié, 2024-04-01

Article révisé par les pairs

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Résumé :

Robotics in construction is an emerging field that aims to automate various construction activities. Among the various innovative technologies for the construction sector, in this paper we focus on robotic solutions for the bricklaying task. In particular, we describe and explain in detail the implementation of a control framework for a recently introduced multi-robot bricklaying concept, specifically designed for laying activities with large and heavy blocks. The multi-robot system subject of this work is based on the collaboration of a robotic manipulator and a crane. The control architecture proposed to perform the construction task belongs to the Explicit Reference Governor (ERG) formalism. The ERG is a constrained control structure that enforces the constraints of the system and ensures that the robotic system operates correctly and safely. The efficiency of the proposed solution is confirmed by experimental validation on a custom-made crane and a KUKA LBR IIWA14R820 robotic arm.