Journal
AUTOMATION IN CONSTRUCTION
Volume 35, Issue -, Pages 579-586Publisher
ELSEVIER SCIENCE BV
DOI: 10.1016/j.autcon.2013.01.008
Keywords
Human-robot cooperation; Construction robot; Intuitive manipulation device; Heavy duty glass; Virtual axis
Funding
- Basic Science Research Program through the NRF
- Ministry of Education, Science and Technology [2010-0025255, 2011-0020938]
- MKE
- NIPA [2011-C7000-1001-0002]
- Happy tech. program through the NRF
- Construction Technology Innovation Program (CTIP)
- MLTM
- Industrial Strategic technology development program [10040180]
- Ministry of Knowledge Economy, Korea
- National Research Foundation of Korea [2010-0025255] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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Glass is widely used as finishing material to improve both building interiors and exteriors. As buildings are becoming larger, the materials used are also increasing in size to reduce the time required for construction. To manipulate a heavy duty panel glass intuitively, we proposed an installation methodology based on human-robot cooperation for a glazing robot. Here, we classified all types of glass installation robots, and then analyzed the installation methods compared to construction workers. We propose a human-robot cooperation method that is similar to installation method of construction worker and detail the requirements. In addition, a control system for using intuitive manipulation device is implemented. We confirmed that the glass installation work using intuitive manipulation device is more efficient than existing methods through a simple experimental setup. This method combines operator's control ability and robot's power. It is expected that glass installation work will not only be more efficient but also safer. Crown Copyright (C) 2013 Published by Elsevier B.V. All rights reserved.
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