Automation System for Curtain Wall Installation (ASCI)

As a trial of automation for a curtain wall which is one of heavy materials, the prototype of an ASCI(Automation System for Curtain wall Installation) was proposed and applied in real construction site. Human-robot cooperation is one of the solutions to improve ASCI. The aim of this paper is to develop a control algorithm for ASCI, which is a human-robot cooperative system, and the practical applications of the study on curtain wall installation. The procedure for development of the control algorithm starts from an analysis of environment, robot, and human modeling. The control algorithm for human-robot cooperation based on force control and the experiments of human-robot cooperation through application on the curtain wall installation are also contained. Expected effects from this system are simple construction procedure, a raise of efficiency and accuracy, retrenchment of the construction cost and period, and safety assurance of operators.