인간-로봇 협업 제어를 적용한 중량 천장유리 설치로봇의 프로토타입 개발

Abstract

Although construction materials have been towards larger and heavier, suitable construction equipment for heavy construction materials is still lacking. Specially, installation of heavy ceiling glass is very dangerous and laborious because of high rising work. We suggested an installation robot using human robot cooperative control for heavy ceiling glass. We approached in way that combines existent equipment to get efficient effect with limited cost and period. We also developed HRI device and suction device in consideration of work specification. We proposed human-robot cooperative control algorithm for intuitive operation. Also, it deals with design of prototype installation robot using human-robot cooperative control for heavy ceiling glass. Finally, an installation robot using human-robot cooperative control for heavy ceiling glass is applied in construction site. By application of an installation robot using human-robot cooperative control for heavy ceiling glass, operators were able to move heavy ceiling glass with relatively scaled-down force, as the robot complies with the operators’ intention. This system is expected effects that are assurance of safety and labor intensity.