Human Robot Cooperative Control and Task Planning for a Glass Ceiling Installation Robot

Abstract

Building materials and components are much larger and heavier than general industrial materials. A glass panel is a type of building material used for interior finishing. The demand for larger glass panels has increased along with the number of high-rise buildings and an increased interest in interior design. The objective of this study is to introduce robotic technology for installing a glass panel on a high ceiling. After job definition, we established a design concept for the proposed robot. Finally, we described the detailed design of the robot in a past symposium. In this paper, the control algorithm relating the human-robot cooperation to which the hardware of the integrated system is to be applied, is presented. Also, the task planning for robotized construction is applied.