Authors:
Wootae Jeong
1
;
Seung-Woo Jeon
2
;
Duckshin Park
1
and
Soon-Bark Kwon
1
Affiliations:
1
Korea Railroad Research Institute, Korea, Republic of
;
2
University of Science and Technology, Korea, Republic of
Keyword(s):
Force Control, Compliance Device, Kinematic Analysis, Service Robot, Air Duct Cleaning.
Related
Ontology
Subjects/Areas/Topics:
Force and Tactile Sensors
;
Informatics in Control, Automation and Robotics
;
Intelligent Components for Control
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robot Design, Development and Control
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
Due to the complexity of the air duct and ventilation system, removing accumulated dusts and particular matters at inner surface of air duct system becomes key issue for improving indoor air quality and maintaining the green environment of underground facilities. Although various tools and technologies for air duct cleaning have been developed, mechanical brushing method is evaluated as the most effective method in cleaning duct and ventilation system. Therefore, automotive duct cleaning robot with rolling brushes has been developed in this study. In particular, by adding compliant force feedback sensors to the rolling brushes, the developed cleaning robot can control the cleaning force consistantly between brush and duct surface. Force feedback control algorithm has been also developed and evaluated through control simulation tools.