This paper presents the control system of the rOMANCAN robot (Gutter Maintenance robot), a trackeddifferential mobile robot designed to clean buildings gutters andreduce the risk of operators falling. The focus on t...
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ISBN:
(数字)9798331508807
ISBN:
(纸本)9798331508814
This paper presents the control system of the rOMANCAN robot (Gutter Maintenance robot), a trackeddifferential mobile robot designed to clean buildings gutters andreduce the risk of operators falling. The focus on the control system deals with following wall, to correct the robot trajectory in real time. In addition, the integrated electronic components, such as sensors and actuators, are detailed. The simulation results and experimental tests, show the effectiveness of the system in simulated conditions, and with physical prototype, it is noticed at kinematic control that the compensation angle can be computed by dividing 2.5 the initial robot deviation angle; otherwise the dynamic control allows compensate additional real environment disturbs contributing to the field of mobile robotics and automation in narrow spaces at urban environments.
This paperdeals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selec...
This paperdeals with the challenges involved on roof building gutter maintenance robot design, from the problem statement of secure teleoperated semiautonomous navigation on confined gutter spaces, and the best selection of right mechatronics brush to remove the waste on gutter surface; Two concept design have been tested: Passive Brush with Parallel locomotion (PBP), and Active Brush Axial (ABA). The results on ourdevelopment are shown, as following: secure robot lifting regulation, simulation environment, HMI to teleoperate, mechatronics design. Finally, some tests on simulations and current prototypes are shown, to validate our proposal, and the conclusion that the ABA design allows to remove until 85% gutter waste, instead of PBP design; furthermore, the ABA allows independent brush rotation velocity, instead of PBP design.
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