| With the rapid development of the construction industry,large high-rise buildings have sprung up.The problems faced by the construction industry,such as the aging of the staff,the high labor intensity of the workers,the high risk,the low construction efficiency,and the difficulty in ensuring the construction quality,have become increasingly prominent.The installation of large curtain walls requires more than one worker to work together,with high risk and frequent accidents.With the support of the joint fund of the National Natural Science Foundation of the People’s Republic of China,based on the concept of human-robot cooperative operation,this project develops a curtain wall installation robot system,improves the stability of the control system and the flexibility of cooperative operation,carries out intelligent research on building construction,and promotes the application of robot technology in the construction industry.This paper compares and analyzes the pendants used in the dry-hanging stone curtain wall industry,analyzes the traditional installation process and construction process of dry-hanging stone curtain walls,sums up and summarizes the problems that need to be solved in the traditional construction,and proposes a set of curtain wall installation process suitable for human-robot cooperation.A human-robot cooperative operation system suitable for the installation of curtain walls at high altitudes is designed by adopting the appropriate human-robot system idea,and a reasonable robot electrical control system is designed to lay the foundation for the control of curtain wall panel installation.Then,the robot’s operation trajectory is planned based on the principle of Dynamic Movement Primitives.According to the strategy of human-robot cooperation in curtain wall installation,the same task is taught several times,and the fast Fourier transform algorithm is used to analyze the participation weight of each teaching track,and the robot’s operation trajectory is planned.The dynamic movement primitive algorithm is used to further study and generalize the planned operation trajectory,making the planned trajectory more general.Besides,the neural network is used to analyze the operation intention of the human operator,and the variable admittance control model of the robot is built.Through the stability analysis of the human-robot cooperative operation system,the adjustable range of the admittance parameters is obtained,and the double six-dimensional force sensor is used to ensure that the robot can work safely.With the help of the neural network toolbox provided by MATLAB,the absolute error and relative error of BP neural network and RBF neural network in predicting human operation intention are compared and analyzed.With the help of MATLAB/Simulink software,the variable admittance control model proposed in this paper is simulated and the results are analyzed.Finally,the following performance verification experiment of the human-robot cooperation system,robot trajectory generalization experiment,and fine curtain wall installation experiments are carried out in the physical space,which verifies the rationality of the proposed method applied to human-robot cooperation curtain wall installation system and improves the operational flexibility of the control system. |
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