Publications / 2007 Proceedings of the 24th ISARC, Kochi, India

Intuitive OCU (Operator Control Unit) of MFR (Multipurpose Field Robot) on Construction Site

Seungyeol Lee, Seokjong Yu, Sangho Lee, Changsoo Han
Pages 259-264 (2007 Proceedings of the 24th ISARC, Kochi, India, ISBN 978-81-904235-1-9, ISSN 2413-5844)
Abstract:

Recently, there has been a lot of interest concerning remote-control construction robot manipulation in hazardous operation environments including construction sites. However, there are problems involving the method of remote-control in unstructured work environments such as construction sites. In this study, an improved MFR system is described, which helps a human operator to easily install construction materials through an intuitive Operator Control Unit (OCU) on construction sites. The OCU consists of a force reflecting joystick and a vision system. The active compliance control and bilateral communication for strategic control is also described. In order to evaluate the proposed OCU, the installation of construction materials is simulated.

Keywords: Intuitive, OCU (Operator Control Unit), Construction Site