A Study on Hybrid Force/ Motion Control for Automated Robotic Building Maintenance System

Owing to the increasing number of high-rise buildings and large glass facades and the resulting problem of safe and effective maintenance, many trials have taken place in the last few years to develop automated cleaning systems. So as to guide the robot’s movement on the facade, this study proposes the built-in-guide type building maintenance robot system using additional module such as guidance mullion to the facade. To enhance the stability and safety of the system, herein, the strategy is proposed for raising the performance of the system based on hybrid force/ motion control which comes out increasing the energy efficiency and sustainability of the integrated system, as well.