Force Control of a Duct Cleaning Robot Brush using a Compliance Device

Wootae Jeong, Seung-Woo Jeon, Duckshin Park, Soon-Bark Kwon

2012

Abstract

Conserving clean air and removing contaminants and particular matters accumulated in the ventilation system of the subway stations are key issue for high air quality and green environment. Accumulated various pollutants at inner duct surface can cause secondary air contamination and injure subway passengers’ respiratory system and health. In fact, periodic duct cleaning works can improve indoor air quality, but cleaning entire ventilation system takes high cost and manpower. This study proposes a newly developed duct cleaning robot to provide autonomous air duct cleaning. In addition, effective cleaning method with an automated robot device is developed. In particular, the new duct cleaning robot has functionality that cleans four sides of inner duct surface simultaneously with a constant pressure by using a force compliance brush. Control method with the compliant device has also been analysed. The proposed design of autonomous duct cleaning robot is expected to save the operating cost of subway ventilation system and sustain clean indoor air quality by providing easier and faster cleaning tools.

Paper Citation

in Harvard Style

Jeong W., Jeon S., Park D. and Kwon S. (2012). Force Control of a Duct Cleaning Robot Brush using a Compliance Device . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 372-376. DOI: 10.5220/0004119703720376

in Bibtex Style

@conference{icinco12,
author={Wootae Jeong and Seung-Woo Jeon and Duckshin Park and Soon-Bark Kwon},
title={Force Control of a Duct Cleaning Robot Brush using a Compliance Device},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={372-376},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004119703720376},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Force Control of a Duct Cleaning Robot Brush using a Compliance Device
SN - 978-989-8565-22-8
AU - Jeong W.
AU - Jeon S.
AU - Park D.
AU - Kwon S.
PY - 2012
SP - 372
EP - 376
DO - 10.5220/0004119703720376