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Real-Time Control for a Robotic Rebar Bender

by Phillip S. Dunston, North Carolina State Univ, Raleigh, United States,
Leonhard E. Bernold, North Carolina State Univ, Raleigh, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

Job conditions and variability in the properties of the stock material combine in a rebar bending operation to create a challenging environment for a robotic bender. This paper reports the current state of research with an automated rebar bender for straight bars. Impedance control concepts are employed to model machine and material interaction. Results of experiments designed to find answers to important questions for real-time control of a robotic bender are presented and discussed.

Subject Headings: Automation and robotics | Reinforcing steel | Control systems | Bending (structural) | Material properties | Bars (structure) | Computer programming

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