Glazed Panel Construction with Human-Robot Cooperation

These days, construction companies are beginning to be concerned about a potential labor shortage by demographic changes and an aging construction work force. Also, an improvement in construction safety could not only reduce accidents but also decrease the cost of the construction, and is therefore one of the imperative goals of the construction industry. These challenges correspond to the potential for Automation and Robotics in Construction as one of solutions. Almost half of construction work is said to be material handling and materials used for construction are heavy and bulky for humans.

Glazed Panel Construction with Human-Robot Cooperation; Preface; Notations; Contents; 1 Introduction; Abstract; 1.1 ... Problems in Construction Industry; 1.2 ... Panel Construction Robots; 1.3 ... Needs for Human -- Robot Cooperative Manipulation; References; 2 Control Algorithm for Human -- Robot Cooperation; Abstract; 2.1 ... Outline; 2.2 ... System Modeling; 2.2.1 Operation in Unconstrained Case; 2.2.2 Operation in Constrained Case; 2.3 ... Control Algorithm; 2.4 ... Experimental System; 2.5 ... Experiment and Results; 2.5.1 Influence of Impedance Parameters; 2.5.2 Influence of Inner Motion Control Loop.

2.5.3 Influence of Force Augmentation Ratio2.5.4 Influence of an Environmental Stiffness Parameter; References; 3 Conceptual Design of Human -- Robot Cooperative System; Abstract; 3.1 ... Jab Analysis; 3.2 ... System Configuration; 4 Prototype for Glazed Panel Construction Robot; Abstract; 4.1 ... Basic System; 4.1.1 6DOF Manipulator; 4.1.2 Mobile Platform; 4.2 ... Additional Module; 4.2.1 Hardware; 4.2.2 Software; 4.3 ... Experiments and Results; Reference; 5 Glazed Ceiling Panel Construction Robot; Abstract; 5.1 ... Basic System; 5.1.1 Multi-DOF Manipulator; 5.1.2 Aerial Wo…