Vertical movement for gondola-typed robot system

We have researched an automated gondola-typed robot system for building façade maintenance. Our system moves in vertical direction on walls with two endless winders along wire ropes. Because its main function is to paint, the balance of the gondola system should be kept. Two endless winders are controlled in accordance with ARS (Attitude Reference System). With proposed algorithm, input frequency values of winders are continuously updated. In experiment, balance of the gondola system was enough to paint on wall while proposed algorithm was executed.