The importance of the automation of cleaning and polishing processes is discussed as they are consuming worldwide tremendous quantities of tedious and not prestigious labor force applied usually in the night time. Upgrading of the modularly built Mobile Robot Platform Nomad 200 by adding of a linear modules and attaching to it an electrically driven disc brush (or mosaic polishing fine abrasive disc) structures it to a service robot for automation of floor polishing operations. This modular low cost solution of the problem is realized by using of a minimized configuration of the MRP Nomad 200, fixing to its body vertically to the floor of a linear module, equipped (in the brush holder) with a force sensor allowing the system to keep always the preset force of the brush (or abrasive disc) towards the floor, regardless of the deviations of its flatness. As to prevent linear modules or brush components damage in case of a conflict with some floor edges or other minor obstacles a passive 6 DOF RCC accomodator is also built in the brush holder. For studying of the stability of a robot movement and its path a 3D modeling and animation were performed.
Key word : automation, mobile robot, modular mobile robot, service robot, modeling.
