DOI QR코드

DOI QR Code

Human-Robot Cooperative Control for Construction Robot

건설로봇용 인간-로봇 협업 제어

  • 이승열 (한양대학교 대학원 기계공학과) ;
  • 이계영 (삼성물산 건설부문 기술연구소) ;
  • 이상헌 (삼성물산 건설부문 기술연구소) ;
  • 한창수 (한양대학교 기계공학과)
  • Published : 2007.03.01

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.

Keywords

Construction Robot;Human-Robot Cooperation;Heavy;Construction Materials;Impedance Control;Power Assist Ratio

References

  1. Albus, James S., 1986, 'Trip Report: Japanese Progress in Robotics for Construction,' International Journal of Robotics, Vol. 2, No. 2, pp. 103-112 https://doi.org/10.1016/0167-8493(86)90047-1
  2. Kangari, R. and Halpin, D. W., 1988, 'Automation and Robotics in Construction: A Feasibility Study,' Proceedings of the 5th International Symposium on Robotics in Construction, Tokyo, Japan, June 6-8, Vol. 1, pp. 161-167
  3. Gambao, E., Balaguer, C. and Gebhart, F., 2000, 'Robot Assembly System for Computer-Integrated Construction,' Automation in Construction, Vol. 9, Issue 5-6, pp. 479-487 https://doi.org/10.1016/S0926-5805(00)00059-5
  4. Choi, H.S., Han, C.S., Lee, K.Y. and Lee, S.H., 2005, 'Development of Hybrid Robot for Construction Works with Pneumatic Actuator,' Automation in Construction, Vol. 14, No. 4, pp. 452-459 https://doi.org/10.1016/j.autcon.2004.09.008
  5. Ostoja-Starzewski, M., Skibniewski, M., 1989, 'A Master-Slave Manipulator for Excavation and Construction Tasks,' Robotics and Autonomous Systems, Vol. 4, No. 4, pp. 333-337 https://doi.org/10.1016/0921-8890(89)90032-8
  6. Santos, P. G.., Estremera, J., Jimenez, M. A., Garcia, E. and Armada, M., 2003, 'Manipulators helps out with Plaster Panels in Construction,' The Industrial Robot, Vol. 30, No. 6, pp. 508-514 https://doi.org/10.1108/01439910310506774
  7. Skibniewski, M.J., Wooldridge, S.C., 1992, 'Robotic Materials Handling for Automated Building Construction Technology,' Automation in Construction, Vol. 1, No. 3, pp. 251-266 https://doi.org/10.1016/0926-5805(92)90017-E
  8. Lee, S.Y., Lee, K.Y., Park, B.S. and Han, C.S., 2006, 'A Multidegree-of-freedom Manipulator for Curtainwall Installation,' Journal of Field Robotics, Vol. 23, No. 5, pp. 347-360 https://doi.org/10.1002/rob.20122
  9. Fukuda, T., Fujisawa, Y., Muro, E., Hoshino, H., Miyazaki, T., Uehara, K., Ohtsubo, K. and Mikami, T., 1991, 'A New Robotic Manipulator in Construction based on Man-Robot Cooperation Work,' Proc. of the 8th International Symposium on Automation and Robotics in Construction, pp. 239-2445
  10. Fukuda, T., Fujisawa, Y., Kosuge, K., Arai, F., Muro, E., Hoshino, H., Miyazaki, K., Ohtsubo, K. and Uehara, K., 1991, 'Manipulator for Man-Robot Cooperation,' International Conference on Industrial Electronics, Control and Instrumentation, Vol. 2, pp. 996-1001
  11. Fukuda, T., Fujisawa, Y., Arai, F., et. al., 'Study on Man-Robot Cooperation Work-type of Manipulator, 1st Report, Mechanism and Control of Man-Robot Cooperation Manipulator,' Trans. of the JSME, pp. 160-168
  12. Miller, J.S., 1968, 'The Myotron - A Servo-Controlled Exoskeleton for the Measurement of Muscular Kinetics,' Cornell Aeronautical Laboratory Report VO-2401-E-1
  13. Kazerooni, H., 1989, 'Human/Robot Interaction via the Transfer of Power and Information Signals - part I: Dynamics and Control Analysis,' IEEE Proc. of IEEE International Conference on Robotics and Automation, pp. 1632-1640
  14. Kazerooni, H. and Mahoney, S.L., 1991, 'Dynamics and Control of Robotic Systems worn by Humans,' ASME Journal of Dynamic Systems, Measurement and Control, Vol. 133, No. 3, pp. 379-387 https://doi.org/10.1115/1.2896421
  15. Kosuge K., Fujisawa, Y. and Fukuda, T., 1993, 'Mechanical System Control with Man-Machine-Environment Interactions,' Proc. of IEEE International Conference on Robotics and Automation, pp. 239-244
  16. Hogan, N., 1985, 'Impedance Control: An Approach to Manipulation, Part I-III,' ASME Journal of Dynamic Systems, Measurements and Control, Vol. 107, pp. 1-24 https://doi.org/10.1115/1.3140702
  17. Isao S., Hidetoshi O., Nobuhiro T. and Hideo T., 1996, 'Development of Automated Exterior Curtain Wall Installation System,' International Symposium on Automation and Robotics in Construction (ISARC'96), Tokyo, Japan, pp. 915-924
  18. Mosher, R.S., 1967, 'Handyman to Hardiman,' Automotive Engineering Congress, SME670088
  19. Kazerooni, H., 1989, 'Human/Robot Interaction via the Transfer of Power and Information Signals - part II: An Experimental Analysis,' IEEE Proc. of IEEE International Conference on Robotics and Automation, pp. 1641-1647