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Human-robot cooperation control for installing heavy construction materials

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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.

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Acknowledgment

This work was supported by the SAMSUNG CORPORATION and the SRC/ERC program of MOST (grant#R11-2005-056-03003-0).

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Authors and Affiliations

  1. Department of Mechanical Engineering, Hanyang University, 17, Haengdang-dong, Seongdong-gu, Seoul, Korea, 133-791

    Seung Yeol Lee & Chang Soo Han

  2. SAMSUNG CONSTRUCTION, 4th Fl., Seohyun Bldg. 270-2, Seohyun-Dong, Bundang-Gu, Sungnam-Si, Gyonggi-Do, Korea, 463-771

    Kye Young Lee & Sang Heon Lee

  3. Department of Mechatronics Engineering, Hanyang University, Sa 1 dong, Sangrok gu, Ansan, Kyonggi Do, South Korea, 426-791

    Jin Woo Kim

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  1. Seung Yeol Lee
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  2. Kye Young Lee
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  3. Sang Heon Lee
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  5. Chang Soo Han
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Correspondence to Seung Yeol Lee or Chang Soo Han.

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Lee, S.Y., Lee, K.Y., Lee, S.H. et al. Human-robot cooperation control for installing heavy construction materials. Auton Robot 22, 305–319 (2007). https://doi.org/10.1007/s10514-006-9722-z

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  • DOI: https://doi.org/10.1007/s10514-006-9722-z

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