Vertical motion control of building façade maintenance robot with built-in guide rail

Sung Min Moon, Jaemyung Huh, Daehie Hong, Seunghoon Lee, Chang Soo Han

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


Recently, the number of high-rise building has increased along with the development of technology to cope with the increase in population. Because of this, many researches on an automatic building façade maintenance system have been conducted to satisfy the increasing demands of façade maintenance. However, most researches have focused on the mechanism and system composition, while working safety issues have not been sufficiently dealt with. This paper deals with the motion control issues of the building façade maintenance robot system which is composed of a vertical robot and a horizontal robot moving along the rail of the façade. With consideration for the vertical robot, these issues include the safety of docking process and the stability of vertical motion. During the docking process for the inter-floor circulation of the horizontal robot, shocks and positioning errors are generated due to increasing load. To solve this, the rail brake system is operated to suppress the shock during the docking process, and a re-leveling process is conducted to compensate the gap which is equal to the positioning error between the built-in transom rail of the robot and the transom rail of the building. In addition, many noises are generated from the surroundings that significantly affect the motion of the vertical robot due to vibration. To enhance the motion stability of the vertical robot, vibration suppression control is developed in this paper, using the state estimation which considers the dynamic properties of the wire rope. For the feasibility of this algorithm, the field experiment of the building façade maintenance robot is conducted.

Original languageEnglish
Pages (from-to)11-20
Number of pages10
JournalRobotics and Computer-Integrated Manufacturing
Issue number1
Publication statusPublished - 2015 Feb

Bibliographical note

Funding Information:
This work was supported by the Human Resources Program in Energy Technology of the Korea Institute of Energy Technology Evaluation and Planning (KETEP) grant with financial resource from the Ministry of Trade, Industry & Energy , Republic of Korea (No. 20124010203250 ). This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (MSIP) (No. 2007-0056094).

Funding Information:
The work presented in this paper was funded by the Building-Façade Maintenance Robot Research Center (BMRC) , supported by the Korea Agency for Infrastructure Technology Advancement (KAIA) under the Ministry of Land, Infrastructure and Transport (MOLIT) (No. B055306).


  • Building façade maintenance robot
  • Built-in guide rail
  • Re-leveling control
  • Vertical motion control
  • Vibration suppression control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • General Mathematics
  • Computer Science Applications
  • Industrial and Manufacturing Engineering


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