An implementation of a teleoperation system for robotic beam assembly in construction

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• 作者：Kyungmo Jung (149)
  Baeksuk Chu (249)
  Shinsuk Park (149)
  Daehie Hong (149)
  
• 关键词：Bolting robot ; Construction robot ; Fitts-law ; Steel beam assembly ; Teleoperation system
• 刊名：International Journal of Precision Engineering and Manufacturing
• 出版年：2013
• 出版时间：March 2013
• 年：2013
• 卷：14
• 期：3
• 页码：351-358
• 全文大小：2,395 KB
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• 作者单位：Kyungmo Jung (149)
  Baeksuk Chu (249)
  Shinsuk Park (149)
  Daehie Hong (149)
  
  149. School of Mechanical Engineering, Korea University, 5-1, Anam-dong, Sungbuk-gu, Seoul, South Korea, 136-701
  249. Department of Intelligent Mechanical Engineering, Kumoh National Institute of Technology, Yangho-dong, Gumi-si, Gyeongbuk, South Korea, 730-701
  
• ISSN：2005-4602

文摘

Recently, a robot-based construction automation (RCA) project was finished in Korea, whose purpose was to employ a robotic system instead of human labor in steel beam assembly tasks. In that research, a robotic beam assembly (RBA) system was developed to execute a beam assembly task. A field application using the RBA system at an actual construction site was completed. Because a human operator had to board the cabin and manipulate the system in the air, causing possible safety problems, a teleoperation system was developed and is the subject of this paper. To evaluate the performance of the teleoperation system, a pointing task experiment based on Fitts-law was conducted to determine whether it obeyed speed-accuracy tradeoff rules. Results are discussed and an overview of the actual bolting test using the teleoperation system is presented here. Finally, conclusions are drawn about the feasibility of implementing an RBA system with teleoperation in actual building construction applications.