Operational support for ensuring safety object-removal using dual-arm construction machinery

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

Abstract

This paper describes an operational support system to simplify removing objects from a building structure in demolition work using dual-arm construction machinery. An operator cannot recognize the manipulator movement visually when a target object is strongly restrained in an unmovable environment, so the operator continues large lever-operations for a while after the object has been removed. This could lead to a collision against the surrounding environment. An operational support in construction machinery filed requires the compatibility among efficiency, quality, and safety and the commonality among various operator skill levels. The proposed support system thus identifies the moment when an object has been removed and cancels any operational inputs to ensure safety work when generating intensive force applied to a manipulator, focusing only on the common physical phenomena. An object-removal flag is defined as a situation where force applied to the end-point of a manipulator decrease rapidly in which lever operation and hand load are detected. Demolition experiments are conducted using a hydraulic dual arm system. Result indicates that the displacement of end-effector after removal and the number of error contacts are decreased while decreasing time consumption.

Original languageEnglish
Title of host publicationProceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
Pages237-242
Number of pages6
DOIs
Publication statusPublished - 2012
Event2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 - Alexandria
Duration: 2012 Dec 72012 Dec 9

Other

Other2012 1st International Conference on Innovative Engineering Systems, ICIES 2012
CityAlexandria
Period12/12/712/12/9

Fingerprint

Manipulators
Machinery
Demolition
End effectors
Loads (forces)
Hydraulics
Experiments

Keywords

  • construction machinery
  • object-removal support
  • operational support
  • state identification

ASJC Scopus subject areas

  • Engineering (miscellaneous)
  • Control and Systems Engineering

Cite this

Kamezaki, M., Shimada, Y., Iwata, H., & Sugano, S. (2012). Operational support for ensuring safety object-removal using dual-arm construction machinery. In Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012 (pp. 237-242). [6530876] https://doi.org/10.1109/ICIES.2012.6530876

Operational support for ensuring safety object-removal using dual-arm construction machinery. / Kamezaki, Mitsuhiro; Shimada, Yosuke; Iwata, Hiroyasu; Sugano, Shigeki.

Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012. 2012. p. 237-242 6530876.

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

Kamezaki, M, Shimada, Y, Iwata, H & Sugano, S 2012, Operational support for ensuring safety object-removal using dual-arm construction machinery. in Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012., 6530876, pp. 237-242, 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012, Alexandria, 12/12/7. https://doi.org/10.1109/ICIES.2012.6530876
Kamezaki M, Shimada Y, Iwata H, Sugano S. Operational support for ensuring safety object-removal using dual-arm construction machinery. In Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012. 2012. p. 237-242. 6530876 https://doi.org/10.1109/ICIES.2012.6530876
Kamezaki, Mitsuhiro ; Shimada, Yosuke ; Iwata, Hiroyasu ; Sugano, Shigeki. / Operational support for ensuring safety object-removal using dual-arm construction machinery. Proceedings of the 2012 1st International Conference on Innovative Engineering Systems, ICIES 2012. 2012. pp. 237-242
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