Installation of heavy duty glass using an intuitive manipulation device

Glass is widely used as finishing material to improve both building interiors and exteriors. As buildings are becoming larger, the materials used are also increasing in size to reduce the time required for construction. To manipulate a heavy duty panel glass intuitively, we proposed an installation methodology based on human–robot cooperation for a glazing robot. Here, we classified all types of glass installation robots, and then analyzed the installation methods compared to construction workers. We propose a human–robot cooperation method that is similar to installation method of construction worker and detail the requirements. In addition, a control system for using intuitive manipulation device is implemented. We confirmed that the glass installation work using intuitive manipulation device is more efficient than existing methods through a simple experimental setup. This method combines operator's control ability and robot's power. It is expected that glass installation work will not only be more efficient but also safer. ► We proposed new methodology for installing the heavy duty panel glass. ► This method presents how to detect the rotational axis and point of action. ► The operators define these axes using the intuitive manipulation device (IMD). ► We analyzed kinetic relationship of force between the IMD and robot. ► We proved performance of a proposed methodology using 6-DOF serial robot.