Automation of surface treatment in construction by using a robot

A multifunctional construction robot is proposed for various surface treatment tasks in construction. The proposed multifunctional construction robot has the capability of performing both spraying and cleaning tasks and is able to adapt to changes in both the environment and task conditions. Another feature is the force control scheme which is added to the widely used PID position controller of a factory robot to achieve its multifunctionality. The proposed robot needs little change in both hardware and software and can be applied to automate numerous spraying and cleaning tasks regardless of the nature of the surface