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- Title
An Open PLC-Based Robot Control System for 3D Concrete Printing.
- Authors
Kajzr, Daniel; Myslivec, Tomas; Cernohorsky, Josef
- Abstract
Three-dimensional concrete printing technology is currently a very topical and developing subject. There is a large number of applications worldwide where this technology can be used. In connection with this technology, the development of custom industrial robotic systems and their control is essential. Conventional closed-loop control system platforms do not provide sufficiently flexible solutions. This paper presents a control system for a unique printing robot that, thanks to its openness and unified platform, will enable simple and fast analysis and testing of key aspects in terms of control and guidance of the printing robot for additive manufacturing applications in the construction industry. The aim of this paper is to introduce the concept of an open PLC-based control system and to demonstrate its usefulness in the task of designing and implementing model-based control. All steps, from the analysis of the printing robot itself and identification of inertial parameters to the actual design and implementation of the control, can be executed in a unified Matlab/Simulink environment using various add-ons and toolboxes thanks to the open control system platform. This solution brings significant savings in terms of programming and prototyping time. The open control system was used to control an experimental model of a printing robot, serving as a test bed for the final version of the printing robot, and the results obtained were evaluated.
- Subjects
ROBOT control systems; INDUSTRIAL robots; CLOSED loop systems; THREE-dimensional printing; INDUSTRIAL controls manufacturing; PARAMETER identification
- Publication
Robotics, 2023, Vol 12, Issue 4, p96
- ISSN
2218-6581
- Publication type
Article
- DOI
10.3390/robotics12040096