| 摘要 |
PURPOSE:To simplify the system by computing and controlling the lengths of ropes as well as hanging a robot with two ropes, and moving the wall surface while detecting the self-coordinates position of the robot. CONSTITUTION:As well as a robot 19 is hung with two ropes 18, the other ends of the ropes 18 are connected to a pair of supports 12 furnishing a motor 15 respectively, which are set at the roof of a building 11 or the like. While a device to detect the rotation frequency of the winding motors 15 is set, a device to compute and control the drawing-out amounts of the ropes is provided. And the actual distance from the rope housing members M the robot is computed, the actual coordinates of the wall surface is computed from the actual distance, and the self-coordinates position of the robot is detected. The wall surface can be moved while detecting the self-coordinates position of the robot, consequently. |
