• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.5
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• pp.853-858
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• 2023

Various types of robots are being utilized in the construction industry. Particularly, there is high interest in robots that can be applied to plastering automation, which can ensure consistent work quality. In this paper, we propose a robot platform based on wheels for plastering automation. Through experiments, we measured the surface pressure according to the air pressure of the wheel using the designed robot. As a result, we were able to confirm that the designed robot could perform plastering work on soft mortar with uniformly low pressure per wheel.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.193-200
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• 2001

Recently, the concrete floor finishing robot, which can be used for flattening and smoothing the concrete floor, has been developed in Korea and Japan. While the previous research assumes that the concrete floor is deformable and the trowel is rigid in modeling the concrete floor finisher, we assume that the concrete floor is rigid and the trowel is deformable. Based on this assumption, we derived the equations of motion and found the convergent velocity of the concrete floor finisher using the computer simulation. From these results, we can understand the relationship between the motion characteristics and the design and control parameter of the robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.614-617
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• 2004

The construction industry is typical of the ' job of 3D ', the automated construction equipments are getting used in the domestic construction sites and the construction robots began to be sold in the abroad. The research developed the small sized robot which could be used at the apartments and the office buildings with the small floors. But the past finishing robot could not be operated easily, it had expensive controller which could not increase the production of robot. In this paper, user interface is made to operate easily the small concrete floor finishing robot with two trowel which has low cost controller, motion algorithm including modeling and mechanism about the concrete finishing robot is developed to control moving. Simulation and experiment figure out how the finishing robot moves and will contribute to realizing it.lizing it.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.454-461
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• 1999

A concrete floor trowel machine, developed in the U.S in 1990's, consists of only two rotary trowels, and doesn't need any other mechanism for motion such as wheels. When the machine flattens a concrete floor with its rotary trowels, the machine can move in any direction by utilizing the unbalanced friction forces occurring between the rotary wheels and the floor when the trowels are tilted in appropriate directions. In order to automate the trowels machine, this paper proposed the self-propulsive concrete finishing trowel robot which has twin trowels. For the control of the robot, this paper discussed the following. Firstly, the dynamics model of the driving frictional force applied on each trowel from the floor is derived. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motion of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with tow trowels moves and will contribute to realizing it.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.8
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• pp.38-45
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• 1999

The 2-trowel type concrete floor finishing robot can move in any direction by adjusting the posture or trowels without any wheels. Since the quality of the smoothed and polished concrete floor is determined by plastering speed, we need to control the velocity of the robot. However, we cannot use the typical motion control method because it is very difficult to measure the velocity of the robot, in contrast to the mobile robots with wheels. To overcome this difficulty, the following are studied in this paper: we found that the robot dynamics has the disturbance depending on its translational speed, and showed that there exists the saturated velocity of the robot which is set by the posture of the trowels, and obtained the relationship between the saturated velocity and the posture in the translation. The result enables us to control the motion of the robot only by adjusting the posture of trowels without measuring the velocity of the robot. Currently, we built the troweling robot and are experimenting its performance with the proposed motion control method.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1187-1195
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• 2001

This paper presents a sweeping path planning algorithm for an autonomous smearing robot. An automatic planner generates a sweeping path pattern by proposed five basic procedures. This algorithm rocog-nizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the track-ing points in such a way that(1) the connected line segments should not be crossed, (2) the total tracking points should be as short as possible, and (3) the tracking line should not pass through the obstacle, Feasibility of the developed techniques has been demonstrated on a real architectural CAD draft.