Development of a ceiling-robots system and its motion control

This paper proposes a ceiling-robots system, con-CEILrge, for a new type service robots by separating a human living space and a robot work space. For the realization of such robot system, a triangle-shaped omni-crawler movement platform, the ceiling structure for the platform, a crane mechanism acceptable to the slant directional traction, and motion control considering variable tention from the payload are devised. The prototype of the movement platform was built, and the basic function of the movement was evaluated. For the control issue, the SDRE internal force control with the projection method was presented and the control method was evaluted by simulation in case of two-robots formation. Through the prototyping and simulatoin, it was shown that the concept of this movement mechanism was adequate for the purpose and sufficient performance of the motion was obtained. Moreover, the control system devices for the overhead traveling robot was developed by using an This control system used Android OS type smartphone to send commands.