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

作     者：Ambrosino, Michele Boucher, Fabian Mengeot, Pierre Garone, Emanuele 

作者机构：Univ Libre Bruxelles Serv Automat & Anal Syst Brussels Belgium NV BESIX SA Brussels Belgium 

出 版 物：《MECHATRONICS》 (Mechatronics)

年 卷 期：2024年第98卷

核心收录：

学科分类：0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基　　金：Brussels Institute for Research and Innovation (INNOVIRIS) of the Brussels Region through the Applied PHD grant 19-PHD-12 

主　　题：Robotics Multi-robotic system Construction robots Robotic bricklayer Constrained control 

摘      要：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.