Modelling, Identification and Control of a 5-DOF Shotcrete Robot : Development of a Framework for Automatic Application of Shotcrete for AMV 4200H
Master thesis
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http://hdl.handle.net/11250/2622743Utgivelsesdato
2019Metadata
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Sammendrag
Today, process automation is the primary area of development in the shotcrete industry. Automaticshotcrete operations can yield an increase in operational efficiency and personnel safety as well asreductions in cost and environmental impact. This thesis develops a framework for automaticapplication of shotcrete using the AMV 4200H and provides an automatic spraying mode usinginteroceptive sensing. The shotcrete vehicle is equipped with a five degrees-of-freedom manipulatorand is currently operated manually. Our contributions include solving the forward kinematicsthrough the Denavit-Hartenberg convention, and the inverse kinematics using kinematic decouplingand iteration. Furthermore, a spraying trajectory is created based on a minimal number of referencepoints provided by the operator. Curve fitting and parameterisation techniques are employed forgenerating a spraying trajectory based on the desired settings. All interactions with the machineare conveniently managed from an intuitive human-machine interface. Individual control of eachjoint with feedback has been implemented on the electronic control unit from the actual machine.Through hardware-in-the-loop simulation, the concepts have been proven, and the functionality ofthe framework has been verified.Keywords:Shotcrete Machine, 5-Degree-of-Freedom Manipulator, Kinematics, Trajectory Gen-eration, Human-Machine Interface, Control, Hardware-In-the-Loop Simulation.ii
Beskrivelse
Master's thesis Mechatronics MAS500 - University of Agder 2019