Title :
Robotics window cleaning
Author :
Farsi, M. ; Ratcliff, K. ; Johnson, P.J. ; Allen, C.R. ; Karam, K.Z. ; Pawson, R.
Author_Institution :
Dept. of Electr. & Electron. Eng., Newcastle upon Tyne Univ., UK
Abstract :
The paper describes the simulation and development programme for a robot demonstrator for window cleaning by mimicking human actions. Human washing and wiping actions are carried out by a sophisticated cleaning head with a combined datum finding and cleaning function. Some of the salient features of the robotic window cleaner are outlined. The combined head is described and details of the controller design and its use to drive the OCS Cartesian gantry robot system is given.
Keywords :
control system synthesis; position control; robots; OCS Cartesian gantry robot system; cleaning function; controller design; datum finding; human washing actions; human wiping actions; salient features; simulation; window cleaning robot;
Conference_Titel :
Control, 1994. Control '94. International Conference on
Conference_Location :
Coventry, UK
Print_ISBN :
0-85296-610-5
DOI :
10.1049/cp:19940298
