Publications / 2013 Proceedings of the 30th ISARC, Montréal, Canada

A Study on Anti-Jerk Control of Building Maintenance Robot System

Seunghoon Lee, Dong-Hyung Kim, Sungpil Kang, Chang-Soo Han, Min-Sung Kang, Myeongsu Gil
Pages 1342-1349 (2013 Proceedings of the 30th ISARC, Montréal, Canada, ISBN 978-1-62993-294-1, ISSN 2413-5844)

The increase in the number of higher and larger buildings is expected to require the buildings' outer wall maintenance process, which includes cleaning, painting and monitoring, still depends on manpower. In this study, we proposed the robotic building maintenance system and aimed to reduce the jerk effect through the motion control of the system, improve the performance of the maintenance task, and ensure longer life and safety by improving the stability of the building structure and robot system. Through the results of the motion control and field-test with the proposed system, in specific, horizontal sliding module (HSM) showed that the jerk oriented by impact force was significantly reduced, feasibility of the proposed method was verified, and the robotic challenges were explored.

Keywords: Building maintenance robot, Sensor based system, Motion control, Anti-jerk control