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Related Experiment Video

Updated: Jul 6, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

Operation of the Collaborative Composite Manufacturing (CCM) System

Published on: October 1, 2019

Cross-coupled synchronization control strategy for rebar binding robots based on impedance control.

Hao Duan¹, Jiajun Wu¹, Xin Sun²

¹Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, Shanghai University, Shanghai 200444, China; School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China.

ISA Transactions

|July 4, 2026

Summary

This study introduces a new control strategy for construction robots binding rebar. The dual-motor synchronous control significantly improves robot stability and navigation in complex rebar meshes.

Keywords:

Dual-Motor Cross-Coupled Synchronous Control Impedance Control Rebar Binding Robot

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

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Published on: October 14, 2017

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Last Updated: Jul 6, 2026

Operation of the Collaborative Composite Manufacturing (CCM) System

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Published on: October 1, 2019

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Area of Science:

Robotics
Construction Engineering
Control Systems

Background:

Manual rebar node binding is labor-intensive and prone to errors.
Existing mobile robots face challenges navigating complex rebar structures due to instability and desynchronization.

Purpose of the Study:

To develop an advanced control strategy for a wheel-legged robot to enhance rebar binding operations.
To improve the robot's navigation and kinematic stability in unstructured construction environments.

Main Methods:

Proposed a dual-motor cross-coupled synchronous control strategy based on impedance control for a wheel-legged rebar binding robot.
Integrated synchronization error terms into the impedance model to create "virtual mechanical coupling" for real-time torque redistribution.
Conducted dynamic analysis of the robot's lateral movement and validated the control strategy.

Main Results:

Reduced peak displacement difference by 29.5% and displacement variance by 75.9% compared to decoupled impedance control under obstacle interference.
Neutralized internal force asymmetries in high-friction threaded rebar mesh, achieving nearly identical cumulative torque profiles for both legs.
Limited longitudinal error to 2.75 mm at 1600 mm/s, suppressing deviations from off-center gravity and mesh deformation.

Conclusions:

The proposed dual-motor synchronous control strategy enhances robustness and kinematic consistency for robotic platforms in complex construction environments.
This innovative approach effectively addresses the limitations of current mobile robots in rebar binding tasks.
The strategy ensures stable and precise robot movement, paving the way for automated rebar node binding.