빌트인형 BMR 시스템의 이동 중 충격완화를 위한 모션제어Moction Planning of Building Maintenance Robot System for Reducing Jerk Effect
- Other Titles
- Moction Planning of Building Maintenance Robot System for Reducing Jerk Effect
- Authors
- 이승훈; 한창수; 강민성; 강성필; 황순웅; 김영수; 문성민; 홍대희
- Issue Date
- 2013
- Publisher
- 한국정밀공학회
- Keywords
- Motion Planning (운동 계획; 제어); Building Maintenance Robot (빌딩외벽유지관리로봇); Sensor Based System (센서기반 시스템); Intelligent System (지능형 시스템); Anti-jerk Motion Control (급가속 저감 제어)
- Citation
- 한국정밀공학회지, v.30, no.4, pp.368 - 374
- Indexed
- KCI
- Journal Title
- 한국정밀공학회지
- Volume
- 30
- Number
- 4
- Start Page
- 368
- End Page
- 374
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/104705
- DOI
- 10.7736/KSPE.2013.30.4.368
- ISSN
- 1225-9071
- Abstract
- Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.
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