建設資材 設置를 위한 多目的 필드로봇 프로토타입 開發

Abstract

The objective of the study was to propose a multipurpose field robot in hazardous operation environments. This system combines a basic system composed of a multi-DOF(Degree Of Freedom) manipulator and a mobile platform with an additional module for construction, national defense and emergency-rescue. According to an additional module type combined with a basic system, it can be used in a various fields. In this study, we describe a construction robot which helps a human operator handle easily construction materials in case of using the cooperation system on construction site. This study introduces an additional module for construction and a robot control algorithm for a HRC(Human Robot Cooperation). In addition, it proposes a novel construction method to install construction materials with robot on construction site. A comparative analysis between the developed robot and the existing construction materials installation robot was executed.