Gondola robot controlling position using inverse kinematics and method for controlling position thereof

摘要

PURPOSE: A gondola robot and a position control method thereof using an inverse kinematics are provided to correct the present position of the robot by reducing or increasing the length of a rope which supports the robot. CONSTITUTION: A method for controlling a position of a gondola robot is as follows. A suction robot arm(23) is connected to a robot body(21) hung from a rope(18) of a rope cart(10). The gondola robot calculates an initial position of the robot body using the information on the suction robot arm when the suction robot arm is fixed to a building outer wall. The gondola robot obtains the information on the change of the suction robot arm when the suction robot arm is changed by the robot body. The gondola robot corrects the position of the robot body by adjusting the length of the rope.