Graphic-Based Human-Machine Interface for Construction Manipulator Control
Publication: Journal of Construction Engineering and Management
Volume 124, Issue 4
Abstract
Large-scale construction manipulators are important to productivity and safety on the construction site. Traditionally, manipulators are controlled by an operator, who pulls and pushes levers, which open and close hydraulic values. Recently, joysticks have begun to be used as a more sophisticated control method. In either case, the manipulator control utilizes the human operator's manual skills and experience because automation of the control is difficult in a unstructured task environment. An alternative to the traditional control methods, a human-machine interface can be used to combine the human operator's intuitive judgment and skills with intelligent machine control. The goal of this research was to understand the characteristics of the human-machine interface during the telerobotic operation of construction manipulators. The paper discusses a comprehensive control framework that describes the types of control systems for an interactive human-machine interface. A general remote control structure was developed to implement the framework to the telerobotic operation of a bridge maintenance crane. Field experiments were conducted to comparatively evaluate the performance of the general remote control structure in varying task complexities. The test results indicate that the human-machine interface can be implemented flexibly to cope with different task requirements on construction sites.
Get full access to this article
View all available purchase options and get full access to this article.
References
1.
Balagner, C., Gambao, E., Barrientos, A., Puente, E., and Aracil, R. (1996). “Site assembly in construction industry by means of a large range advanced robot.”Proc., 13th Int. Symp. on Automation and Robotics in Constr., Tokyo, Japan, 65–72.
2.
Engineering News Record. (1994). “Denver gets bag handle.” August 15.
3.
Everett, J. G., and Slocum, A. H. (1994). “Automation and robotics opportunities: Construction versus manufacturing.”J. Constr. and Mgmt., 120(2), ASCE, Reston, Va., 443–452.
4.
Fischer, G.(1990). “Communication requirements for cooperative problem solving systems.”Info. Syst., 15(1), 21–36.
5.
Halpin, D. W. (1990). “Automated construction technology: Background and barriers.”IABSE Proc., 98–105.
6.
Miller, M. L., and Bernold, L. E. (1991). “Sensor-integrated nailing for building construction.”J. Constr. Engrg. and Mgmt., 117(2), ASCE, Reston, Va., 213–225.
7.
Moon, S., and Bernold, L. E. (1996). “Graphic-based interactive path planning for large-scale bridge maintenance cranes.”Proc., Robotics for Challenging Environments II, ASCE, Reston, Va., 79–85.
8.
Moon, S., and Bernold, L. E. (1997). “Vision-based interactive path planning for robotic bridge paint removal.”J. Computing in Civ. Engrg., 11(2), ASCE, Reston, Va., 113–120.
9.
Rasmussen, J. (1986). Information processing and human-machine interaction. North-Holland, New York, N.Y., 63–71.
10.
Sheridan, T. B. (1992). Telerobotics, automation, and human supervisory control. MIT Press, Cambridge, Mass., 1–12.
11.
Ujiie, H., Yasumoto, F., Ogimoto, K., Hirai, S., Machida, K., Wakita, Y., Peters, S., and Backes, P. (1996). “Study on super long space telerobotics.”Proc., 13th Int. Symp. on Automation and Robotics in Constr., Tokyo, Japan, 59–64.
Information & Authors
Information
Published In
Copyright
Copyright © 1998 American Society of Civil Engineers.
History
Published online: Jul 1, 1998
Published in print: Jul 1998
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.