TITLE

VISION ROPE ATTRIBUTE MEASUREMENT SENSOR FOR GONDOLA-TYPED FACADE ROBOT

AUTHOR(S)
Hwadong Sun; Dong Yeop Kim; Joon Ho Kwon; Bong-Seok Kim; Chang-Woo Park
PUB. DATE
March 2012
SOURCE
International Journal of Control Theory & Computer Modeling;Mar2012, Vol. 2 Issue 2, p29
SOURCE TYPE
Academic Journal
DOC. TYPE
Article
ABSTRACT
The research of automation and robotics in building construction industry has improved working conditions of human labour. It has supplemented applications which create safety hazards for humans. In this paper, we propose an approach to sense pose of a gondola-typed facade maintenance robot system using a vision camera and rope attributes, and a sensor system to utilize it. To control a gondola-typed robot safely and accurately, some parameters should be measured such as translation in X, Y and Z axis and rotation (Euler angles) of the gondola. Our approach conducts this operation with inexpensive and easy-to-maintain system using rope attributes.
ACCESSION #
79921272

 

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