Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot

Taeg Yun Kim; Ji Hoon Kim; Kun Chan Seo; Hong Min Kim; Gi Uk Lee; Jong Won Kim; Hwa Soo Kim

doi:10.4028/www.scientific.net/AMM.541-542.1092

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Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot
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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 541-542Design and Control of a Cleaning Unit for a Novel...

Design and Control of a Cleaning Unit for a Novel Wall-Climbing Robot

Abstract:

This paper presents the design and control of a cleaning unit installed on a novel wall-cleaning robot (ROPE RIDE: RObotic Platform Enabling Rope access In Dangerous Environment). The proposed cleaning unit is able to autonomously avoid various obstacles on the wall of a building and also performs cleaning with sufficient contact force. The prototype of a cleaning unit is systematically designed and examined to verify its impedance-controlled cleaning performance.

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Periodical:

Applied Mechanics and Materials (Volumes 541-542)

Pages:

1092-1096

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.541-542.1092

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Cite this paper

Online since:

March 2014

Authors:

Taeg Yun Kim, Ji Hoon Kim, Kun Chan Seo, Hong Min Kim, Gi Uk Lee, Jong Won Kim, Hwa Soo Kim*

Keywords:

Cleaning Unit, Impedance Control, Wall-Climbing Robot

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* - Corresponding Author

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