Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2016.16.0016
Title & Authors
A Sealing Robot System for Cracks on Concrete Surfaces with Force Tracking Controller Cho, Cheol-Joo; Lim, Kye-Young;
The sealing technique is widely used for repairing the cracks on the surface of concrete and preventing their expansion in the future. However, it is difficult to ensure the safety of the workers when sealing large structures in inconvenient working environments. This paper presents the development of a sealing robot system to seal various shapes of concrete surface in rough conditions for a long time. If the robot can maintain the desired contact force, the cracks can be completely sealed. An impedance force tracking controller with slope estimator is proposed to calculate the surface slope in real time using the robot position. It predicts the next point in order to prevent the robot from disengaging from the contact surface owing to quick slope changes. The proposed method has been verified by experimental results.