Abstract
This paper will expand on the Robotic Bridge Maintenance System (RBMS) developed by the Construction Automation and Robotics Laboratory (CARL) at North Carolina State University (NCSU). The system consists of a 4- dof robot, designed and built at NCSU, mounted on the end of a truck-mounted peeper crane. Additionally, a containment system is mounted in front of the robot to contain the toxic waste created by the removal of the lead-based paint from the bridge beams and trusses.
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