An autonomous cleaning robot is required to enhance safety, reduce cost, and manual effort to clean large exterior glass canopies/façade of the existing buildings. This paper presents the detailed design, motion control, and development procedure of an autonomous canopy cleaning robot. The computer-aided design (CAD) design is used to evaluate the physical and geometrical parameters used in simulation for design verification. The design analysis using static and dynamic models has been carried out to evaluate the motor sizing and its payload performance evaluation for different inclinations of glass canopy. Control algorithms have been developed for collision/obstacle avoidance, cliff and edge detection for safe operation remotely via web-based remote controller. The system integration is then performed by combining the prototype mechanical structure with electronic and sensing hardwares for an autonomous mode of operation. Extensive motion control trials have been performed to evaluate the performance of the developed robot. The cleaning trials have also been performed for further field implementation.