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An Implementation of a Teleoperation System for Robotic Beam Assembly in Construction

机译：施工中机械臂总成遥操作系统的实现

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摘要

Recently, a robot-based construction automation (RCA) project was finished in Korea, whose purpose was to employ a robotic system instead of human labor in steel beam assembly tasks. In that research, a robotic beam assembly (RBA) system was developed to execute a beam assembly task. A field application using the RBA system at an actual construction site was completed Because a human operator had to board the cabin and manipulate the system in the air, causing possible safety problems, a teleoperation system was developed and is the subject of this paper. To evaluate the performance of the teleoperation system, a pointing task experiment based on Fitts' law was conducted to determine whether it obeyed speed-accuracy tradeoff rules. Results are discussed and an overview of the actual bolting test using the teleoperation system is presented here. Finally, conclusions are drawn about the feasibility of implementing an RBA system with teleoperation in actual building construction applications.
机译：最近，韩国完成了一个基于机器人的建筑自动化（RCA）项目，其目的是在钢梁装配任务中采用机器人系统代替人工。在该研究中，开发了自动束组装（RBA）系统来执行束组装任务。由于实际操作人员不得不登上驾驶室并在空中操纵该系统，从而导致可能的安全问题，因此在实际施工现场使用RBA系统的现场应用已完成，因此开发了一种远程操作系统，是本文的主题。为了评估远程操作系统的性能，基于Fitts定律进行了指点任务实验，以确定它是否遵守速度精度折衷规则。讨论了结果，并在此处介绍了使用远程操作系统进行的实际螺栓连接测试的概述。最后，得出有关在实际建筑施工应用中实施带有遥距操作的RBA系统的可行性的结论。

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