이중선체 내부 그리트 블라스팅 로봇 제어기 개발

A grit blasting consists of attacking the surface of a material with grits. The grit blasting is very dangerous and difficult work in the shipbuilding industry. Particularly, it is very dangerous for workers to grit blasting in double hull ship block which has very hazardous environment. So, many workers have musculoskeletal disorders and respiratory disorders. Recently, shipbuilding industry demands the autonomous process instead of manual work process in double hull ship block. This paper describes blasting robot’s control system and work process due to the work surface preparation for girt blasting