Angle Control of the Floor Polishing Robot with Two Rotary Brushes

摘要

The floor polishing robot having two rotary brushes has been developed in our laboratory. This robot uses the friction between floor and their brushes as the driving force. Since driving device to move the robot like motors is not required, the weight of the robot reduced. Furthermore, the robot moves omni-direction using the brushes. This paper shows the angle control by the modern control of the robot and the parameter measurement.