20 April 2016 A smart-hose for concrete displacing booms
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During the last years, continuum robots have been used in many applications. They are smart structures with continuous curving, similar to a worm or an elephant trunk, characterized by a very high number of sub-actuated degrees of freedom (dof). They need a robust control system, aiming at both positioning the robot and suppressing induced vibrations. The idea is to adopt such a robot on a construction machine for the concrete distribution, substituting the reinforced rubber hose with the robotic smart solution. Particular attention has been paid to a control strategy able to reduce vibrations induced by the pumping procedure.
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Francesco Ripamonti, Francesco Ripamonti, Giuseppe Bucca, Giuseppe Bucca, Victor Fava, Victor Fava, Ferruccio Resta, Ferruccio Resta, "A smart-hose for concrete displacing booms", Proc. SPIE 9803, Sensors and Smart Structures Technologies for Civil, Mechanical, and Aerospace Systems 2016, 980349 (20 April 2016); doi: 10.1117/12.2219120; https://doi.org/10.1117/12.2219120

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