Force control in robotic manipulator system with applications in construction

In this thesis, the novel applications of robots in the construction industry are discussed in terms of how to automate some of the operations of construction. Unlike industrial robots which are used in the factory for manufacturing applications, a construction robot has to work in an unstructured environment and must be multifunctional to carry out the various operations required. The subject of force control in a robotic manipulator system is specifically addressed in this thesis for its use in the different operations of construction. The ones covered here can be classified into those of spraying, cleaning, and of a two robot system manipulating a pin-jointed object. A new and different approach is proposed for formulating the external force acting on the end-effector of the manipulator. This basic idea developed, which is used throughout the entire thesis, applies to many different operations. This basic concept is to formulate the external force applied to the robot by means of a free-body diagram of the system involved independent of the joint torque. This study emphasizes the unstructured nature of the conditions found at a construction site and shows the potential to automate or semi-automate many operations in construction. It appears that a successful application of the principle espoused here for robots may revolutionize various operations of construction and significantly reduce their costs