Development of Ceiling Board Opening Robot for Installing Electric Light and Air Conditioning Equipment

The purpose of this research is to develop a robot that automates opening work of ceiling board for installing electric lights and air conditioning equipment. The opening operation requires that the error margin be kept within 2 mm of the drawing's indication. To ensure accuracy, a total station-based robot self-position estimation system is constructed. The cutting accuracy by the robot is ensured by using coordinate transformations to absorb the robot's movement error. Subsequently, each subsystem of the robot is integrated to achieve continuous opening work.