This paper deals with control system structure and environments for duct cleaning. In the proposed system, a hierarchial control structure that consists of a master and axis controller is adopted to gurantee the fast motion and future extenstion of th...
This paper deals with control system structure and environments for duct cleaning. In the proposed system, a hierarchial control structure that consists of a master and axis controller is adopted to gurantee the fast motion and future extenstion of the robot. Also, new path tracking algorithm based on smooth landing curve is applied to the robot in order to provided a efficient path tracking performance in narrow area such as internal space of air ducts.