Hwadong Sun; Dong Yeop Kim; Joon Ho Kwon; Bong-Seok Kim; Chang-Woo Park
March 2012
International Journal of Control Theory & Computer Modeling;Mar2012, Vol. 2 Issue 2, p29
Academic Journal
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.


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