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Cleaning dirty spaces is a very important task for human beings to maintain their quality of life. Recently, many high-rise buildings have been constructed, and their façades are easily contaminated by dust and pollution, especially in Asian countries such as China and Korea. Human workers are cleaning the façades, which are mostly made of glass, by hanging on to a gondola or rope, which entails spending...
This paper presents a novel energy-saving method of a robotic system utilizing parallel mechanism by redundant actuation. The redundantly actuated system can distribute arbitrary actuating torques in a certain combination. By using this feature, the regenerative power dissipation and electric power loss are reduced. Moreover, the redundant actuation can reduce the peak torque of actuating joints....
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