Robotics window cleaning

The paper describes the simulation and development programme for a robot demonstrator for window cleaning by mimicking human actions. Human washing and wiping actions are carried out by a sophisticated cleaning head with a combined datum finding and cleaning function. Some of the salient features of the robotic window cleaner are outlined. The combined head is described and details of the controller design and its use to drive the OCS Cartesian gantry robot system is given.<
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