Human-robot cooperation control for installing heavy construction materials

Authors:
Seung Yeol Lee;Kye Young Lee;Sang Heon Lee;Jin Woo Kim;Chang Soo Han
Affiliations:
Department of Mechanical Engineering, Hanyang University, Seoul, Korea 133-791;SAMSUNG CONSTRUCTION, Gyonggi-Do, Korea 463-771;SAMSUNG CONSTRUCTION, Gyonggi-Do, Korea 463-771;Department of Mechatronics Engineering, Hanyang University, Kyonggi Do, South Korea 426-791;Department of Mechanical Engineering, Hanyang University, Seoul, Korea 133-791
Venue:
Autonomous Robots
Year:
2007

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Abstract

Previously, ASCI (Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.