건설로봇용 인간-로봇 협업 제어

Human-Robot Cooperative Control for Construction Robot

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


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.


건설로봇;인간-로봇 협업;대현 건설자재;임피던스 제어;힘 증폭비


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