Robotic automation system for steel beam assembly in building construction

Baeksuk Chu, Kyungmo Jung, Youngsu Chu, Daehie Hong, Myo Taeg Lim, Shinsuk Park, Yongkwun Lee, Sung UK Lee, Kim Min Chul, Ko Kang Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

In building construction, steel beam assembly has been considered as one of the most dangerous manual operations. In this paper, applying robotic technologies to the steel beam assembly task is discussed. Employing the robotic systems to automate such construction tasks gives the following advantages: saving construction time and cost, enhancing operator's safety, and improving overall quality. The automated robotic assembly system presented in the paper consists of a robotic bolting device, a robotic mobile mechanism, and a bolting control system including human-machine interface. The robotic bolting device, which includes a bolting end-effector and a robotic manipulator, performs actual bolting operation. Utilizing the robotic mobile mechanism composed of a rail sliding boom mechanism and a scissors-jack type mobile manipulator, the robotic assembly system can be transported to a target position for bolting operation. The bolting control system plays a role of safely and efficiently operating the robotic assembly system employing a hole recognition system based on vision technology and a haptic based HMI (Human-Machine Interface) system. This paper includes the major components of the entire robot system that have been built and the future plans to integrate them.

Original languageEnglish
Title of host publicationICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents
Pages38-43
Number of pages6
DOIs
Publication statusPublished - 2009
Event4th International Conference on Autonomous Robots and Agents, ICARA 2009 - Wellington, New Zealand
Duration: 2009 Feb 102009 Feb 12

Publication series

NameICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents

Other

Other4th International Conference on Autonomous Robots and Agents, ICARA 2009
CountryNew Zealand
CityWellington
Period09/2/1009/2/12

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Software

Fingerprint Dive into the research topics of 'Robotic automation system for steel beam assembly in building construction'. Together they form a unique fingerprint.

  • Cite this

    Chu, B., Jung, K., Chu, Y., Hong, D., Lim, M. T., Park, S., Lee, Y., Lee, S. UK., Min Chul, K., & Kang Ho, K. (2009). Robotic automation system for steel beam assembly in building construction. In ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents (pp. 38-43). [4803937] (ICARA 2009 - Proceedings of the 4th International Conference on Autonomous Robots and Agents). https://doi.org/10.1109/ICARA.2000.4803937