Lateral Disturbance Compensation of a Gondola-Embedded Façade Cleaning Robot via Compliant Planar Arm Structure
DC Field | Value | Language |
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dc.contributor.author | Chae, Hobyeong | - |
dc.contributor.author | Park, Garam | - |
dc.contributor.author | Lee, Jiseok | - |
dc.contributor.author | Kim, Hwa Soo | - |
dc.contributor.author | Seo, Tae Won | - |
dc.date.accessioned | 2022-12-20T06:21:41Z | - |
dc.date.available | 2022-12-20T06:21:41Z | - |
dc.date.created | 2021-11-22 | - |
dc.date.issued | 2022-10 | - |
dc.identifier.issn | 1083-4435 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/173043 | - |
dc.description.abstract | Façade cleaning is a dangerous task for human workers. If a façade cleaning robot is equipped with a gondola, it can perform façade cleaning with a simple planar manipulator via the vertical movement of the gondola. To clean a façade using a gondola-embedded robot successfully, the disturbance in the lateral direction of the gondola movement should be measured and compensated. In this study, we propose a compliant parallel structure-based position sensing device to measure the lateral directional disturbances. The compliant structure keeps contacts on the edge of the glass frame during the operation of the gondola and obtains disturbance information from forward kinematics of the joint mechanism. The prototype was produced, and experiments were performed on a test bench designed with a similar façade geometry as that of the target building. The disturbance compensation feature of the proposed mechanism was verified by experimental analysis. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | Lateral Disturbance Compensation of a Gondola-Embedded Façade Cleaning Robot via Compliant Planar Arm Structure | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Seo, Tae Won | - |
dc.identifier.doi | 10.1109/TMECH.2021.3104895 | - |
dc.identifier.scopusid | 2-s2.0-85114733370 | - |
dc.identifier.wosid | 000732704200001 | - |
dc.identifier.bibliographicCitation | IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.27, no.5, pp.3265 - 3274 | - |
dc.relation.isPartOf | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.title | IEEE-ASME TRANSACTIONS ON MECHATRONICS | - |
dc.citation.volume | 27 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 3265 | - |
dc.citation.endPage | 3274 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Automation & Control Systems | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Automation & Control Systems | - |
dc.relation.journalWebOfScienceCategory | Engineering, Manufacturing | - |
dc.relation.journalWebOfScienceCategory | Engineering, Electrical & Electronic | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordPlus | Cleaning | - |
dc.subject.keywordPlus | Embedded systems | - |
dc.subject.keywordPlus | Manipulators | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Kinematics | - |
dc.subject.keywordPlus | Ade cleaning robot | - |
dc.subject.keywordPlus | Cleaning | - |
dc.subject.keywordPlus | Cleaning robot | - |
dc.subject.keywordPlus | Compliant structures | - |
dc.subject.keywordPlus | Coordinate measuring | - |
dc.subject.keywordPlus | Coordinate measuring arm | - |
dc.subject.keywordPlus | Disturbance compensation | - |
dc.subject.keywordPlus | Faç | - |
dc.subject.keywordPlus | Measuring arms | - |
dc.subject.keywordPlus | Passive compliant structure | - |
dc.subject.keywordPlus | Robot kinematics | - |
dc.subject.keywordPlus | Robot sensing system | - |
dc.subject.keywordAuthor | Facade cleaning robot | - |
dc.subject.keywordAuthor | coordinate measuring arm (CMA) | - |
dc.subject.keywordAuthor | disturbance compensation | - |
dc.subject.keywordAuthor | passive compliant structure | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/9530366 | - |
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