Research On Man-machine Coordinated Control Syste For Intelligent Aerial Curtain Wall Installing Robot

Since 21 st Century, with the increasing of construction technology and the continuous improvement of people’s aesthetic requirements, large construction curtain wall gradually occupied the dominant position in large construction especially the local sign buildings. More and more get the favour from people.Lots of curtain wall installation engineering brought a new development opportunity for construction industry in China.Due to the overall intelligent construction level of construction industry in our country is low, aerial curtain wall installation relies mostly on manual, which not only has large labor intensity, low construction efficiency, and high risk, but also easily appear such as falling casualty accidents. This work supported by National Key Technology R&D Program of the Ministry of Science and Technology of China, No. 2012BAF07B00. In view of the above questions, based on impedance control and man-machine coordinated technology, we developmented a robot control system which is suitable for aerial curtain wall installation work and based on the original intelligent curtain wall installing robot.In this article, we summarized the characteristics between outdoor aerial work and the general building construction by studying on the building curtain wall installations of both domestic and foreign. Combined with the factors of aerial building curtain wall such as large size and weight, summarize the difficulty to realize automation of our country aerial building curtain wall, and then, extract the main points of this article. Use the six-axis aerial building curtain wall installing robot, analysis its kinematics, establish its kinematics equation, make out its forward and inverse kinematic solutions, application of Monte Carlo method to analyze its work space and plan its trajectory.This paper emphatically studied into the control system, used a strategy of man-machine coordinated which based on impedance control. By use two six-axis-force sensors the robot system load and manual operation force can organically matched up with environmental contact force. In order to overcome the influence of the gravity of handrail and execution on the sensor, this paper also studied the algorithm of gravity compensation which changes when the force sensor in different poses, what’s more, the formula of force convert from force sensor to fixed coordinate system has also been derived.Final, Confirmed the feasibility of using man-machine coordinated control for curtain wall installing robot through the test on the existing robot.