Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Sealing Robot System for Cracks on Concrete Surfaces with Force Tracking Controller

다양한 형상의 콘크리트 표면 실링을 위한 로봇 시스템

  • Cho, Cheol-Joo (Electrical Engineering, Graduate School of Knowledge-based Technology and Energy, Korea Polytechnic University) ;
  • Lim, Kye-Young (Energy and Electrical Engineering, Korea Polytechnic University)
  • 조철주 (한국산업기술대학교 지식기반기술에너지대학원 전기공학전공) ;
  • 임계영 (한국산업기술대학교 에너지전기공학과)
  • Received : 2016.01.29
  • Accepted : 2016.04.01
  • Published : 2016.05.01
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Abstract

The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.

Keywords

References

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