Abstract
Despite enormous research advances in robotics, most of repetitive and dangerous tasks on construction sites are still manually performed. The challenge to robotic automation lies in the nature of construction site. Robots must be able to handle large payloads, outdoor conditions, dirty and dynamic environment. Therefore, attempting to develop a new robot for construction sites is a formidable task. In this paper, a generic method is introduced to adapt existing stable hydraulically driven construction machinery so that proven robots can be obtained at a significant reduction in effort. Fist, the bus system of the machinery is utilized to communicate with the user’s computer. Then, a control framework is developed which is based on the closed-loop inverse kinematic (CLIK). The method is experimentally validated on a demolition machine Brokk 170, that is originally designed to be controlled with a remote controller.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Montazeri, A., Udo, E.J.: Development of dynamic model of a 7DOF hydraulically actuated tele-operated robot for decommissioning applications. In: American Control Conference (ACC), pp. 1209–1214 (2016)
Taylor, C.J., Chotai, A., Robertson, D.: State dependent control of a robotic manipulator used for nuclear decommissioning activities. In: Intelligent Robots and Systems, pp. 2413–2418 (2010)
Giftthaler, M., Sandy, T., Dörfler, K., Brooks, I., Buckingham, M., Rey, G., Kohler, M., Gramazio, F., Buchli, J.: Mobile robotic fabrication at 1:1 scale: the In situ Fabricator: system, experiences and current developments. Constr. Robot. 1, 3–14 (2017)
Lussi, M., Sandy, T., Doerfler, K., Hack, N., Gramazio, F., Kohler, M., Buchli, J.: Accurate and adaptive in situ fabrication of an undulated wall using an on-board visual sensing system. In: IEEE International Conference on Robotics and Automation, pp. 3532–3539 (2018)
Stumm, S., Braumann, J., Brell-Cokcan, S.: A human-machine interaction for intuitive programming of assembly tasks in construction. In: Conference on Assembly Technologies and Systems, vol. 44, pp. 269–274 (2016)
Lublasser, E., Hildebrand, L., Vollpracht, A., Brell-Cokcan, S.: Robot assisted deconstruction of multi-layered façade constructions on the example of external thermal insulation composite systems. Constr. Robot. 1, 39–47 (2017)
Lee, S., Chang, P.: Control of a heavy-duty robotic excavator using time delay control with switching action with integral sliding surface. In: Proceedings of the 2001 IEEE International Conference on Robotics & Automation (2001)
Vukovic, M.: Hydraulic hybrid systems for excavators, Ph.D. thesis RWTH Aachen University, Shaker (2017)
Vukovic, M., Murrenhoff, H.: Single edge meter out control for mobile machinery. In: Proceedings of the ASME/BATH 2014 Symposium on Fluid Power & Motion Control (2014)
Wydra, M., Geimer, M., Weiss, B.: An approach to combine an independent metering system with an electro-hydraulic flow-on-demand hybrid-system. In: The 15th Scandinavian International Conference on Fluid Power (2017)
Korein, J.U., Balder, N.I.: Techniques for generating the goal-directed motion of articulated structures. IEEE Comput. Graph. Appl. 2, 71–81 (1982)
Goldenberg, A., Benhabib, B., Fenton, R.: A complete generalized solution to the inverse kinematics of robots. IEEE J. Robot. Autom. 1, 14–20 (1985)
Buss, S.R.: Introduction to inverse kinematics with Jacobian transpose, pseudoinverse and damped least squares methods. IEEE Trans. Robot. Autom. 17, 16 (2004)
Dariush, B., Gienger, M., Jian, B., Goerick, C., Fujimura, K.: Whole body humanoid control from human motion descriptors. In: IEEE International Conference on Robotics and Automation, pp. 2677–2684 (2008)
Deo, A.S., Walker, I.D.: Adaptive non-linear least squares for inverse kinematics. In: Proceedings IEEE International Conference on Robotics and Automation, vol. 1, pp. 186–193 (1993)
Nakamura, Y., Hanafusa, H.: Inverse kinematics solutions with singularity robustness for robot manipulator control. J. Dyn. Syst. Meas. Control 108, 163–171 (1986)
Chan, T.F., Dubey, R.V.: A weighted least-norm solution based scheme for avoiding joint limits for redundant joint manipulators. IEEE Trans. Robot. Autom. 11, 286–292 (1995)
Yoshikawa, T.: Foundations of Robotics, Analysis and Control. The MIT Press, Cambridge (1990)
Osumi, H.: Application of Robot Technologies to the Disaster Sites, Report of JSME Research Committee on the Great East Japan Earthquake Disaster, pp. 58–74 (2014)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Lee, H.J., Brell-Cokcan, S., Schmitz, K. (2020). A General Approach for Automating Teleoperated Construction Machines. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_25
Download citation
DOI: https://doi.org/10.1007/978-3-030-19648-6_25
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-19647-9
Online ISBN: 978-3-030-19648-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)