Pose Estimation and Contact Force Measurement of Roller Brushes during Painting Walls

Abstract

In this paper, we propose a method for estimating the posture and measuring the contact force of roller brushes during painting walls. The posture of the roller brushes to be estimated is the three-dimensional position of the roller section, its rotation on the coating surface, and the angle between the roller brushes handle and the coating surface. The contact force is between the roller brushes and the painted surface. From the verification experiments, we confirmed that the proposed method can estimate and measure these parameters.