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Adaptive Control for Robotic Rebar Bending
Author(s) -
Dunston Phillip S.,
Bernold Leonhard E.
Publication year - 1994
Publication title -
computer‐aided civil and infrastructure engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 2.773
H-Index - 82
eISSN - 1467-8667
pISSN - 1093-9687
DOI - 10.1111/j.1467-8667.1994.tb00361.x
Subject(s) - rebar , admittance , context (archaeology) , bending , impedance control , focus (optics) , computer science , control (management) , control engineering , engineering , robot , electrical impedance , structural engineering , artificial intelligence , paleontology , physics , electrical engineering , optics , biology
Computers are becoming essential tools for integrating design, planning, fabrication, and construction. Computer‐controlled construction equipment is poised to receive information from data generated in the design phase. The robotic execution of construction operations, however, depends on complex models for autonomous and intelligent control. This paper introduces a strategy for the robotic bending of rebar and presents the results of experimental work with an actual testing facility. Mechanical properties and behavior of rebar are examined to develop rules for control. Focus is placed on exploring the dynamics between the bender and steel bars. The concepts of impedance, admittance, and compliance of both the machine and the environment will be discussed in the context of control strategy development.