Abstract:For the issues that the building fa?ade maintenance robot (BFMR) is easily affected by environment and vibration, and poor operation stability, a kind of security and stability control scheme is proposed. It uses the rail brake system to suppress the shock in the docking process of vertical and horizontal robot, and a re-leveling process is conducted to compensate the gap which is equal to the positioning error between the built-in transom rail of the robot and the transom rail of the building. In addition, the proposed vibration suppression system is used to control of wire rope vibration acceleration according to the state estimation of the wire rope dynamic properties. This system suppresses the vibration produced by environmental noise, improves the vertical movement of the vertical robot stability and reliability. The experimental results show that, the method can effectively reduce the influence of vibration.