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dc.contributor.authorAuen, Andreas K.
dc.contributor.authorLyngroth, Tomas S.
dc.descriptionMaster's thesis Mechatronics MAS500 - University of Agder 2019nb_NO
dc.description.abstractToday, 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.iinb_NO
dc.publisherUniversitetet i Agder ; University of Agdernb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.subjectShotcrete Machinenb_NO
dc.subject5-Degree-of-Freedom Manipulatornb_NO
dc.subjectTrajectory Generationnb_NO
dc.subjectHuman-Machine Interfacenb_NO
dc.subjectHardware-In-the-Loop Simulationnb_NO
dc.titleModelling, Identification and Control of a 5-DOF Shotcrete Robot : Development of a Framework for Automatic Application of Shotcrete for AMV 4200Hnb_NO
dc.typeMaster thesisnb_NO
dc.subject.nsiVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550::Teknisk kybernetikk: 553nb_NO
dc.source.pagenumber116 p.nb_NO

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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal