Construction System of Heavy Parts by the Coordinated Control between a Crane and a Robot

Automatic assembly of heavy parts for construction will be the next step of assembly automation. This paper deals with a coordinated control between a crane and an industrial robot for assembling heavy parts. The suspended part by the crane and flexibility of the robot are modeled by stiffness matrices. The design of a flexible mechanism installed to the end-effector of the robot is studied. The closed-loop mechanism consists of the crane and the robot is analyzed in kinematics. Since the system has redundancy in kinematics, an algorithm of inverse kinematics is proposed and verified by experiment. This robot system provides a fundamental technology in assembly of heavy parts.