We developed a concrete floor finishing robot (the SURF ROBO) in order to eliminate heavy-duty work and increase the efficiency of concrete floor finishing work. For about one year after development, several SURF ROBOs have been used at the practical construction sites and satisfactory results were obtained in respect of quality and efficiency.Two (2 ) sets of four ( 4) piece trowels are provided , the trowels rotate reversely against each other around the caterpillars and the trowels make the concrete floor smooth as well fine as by the skilled worker.After practicing with this robot, we found that it has the capacity for finishing of a concrete -floor surface of 300 m2 per hour and it provided the same effect of a concrete-floor direct finish with precision as a plasterer . But, as working time can not be reduced by the SURF ROBO because of bleeding water , we have been developing the dehydration robot.
This paper deals with a control method for a man-robot cooperative hydraulic manipulator, and evaluation of its task performance.The man-robot cooperative system is aimed at cooperation between a human operator and a robotic system. The control system for the man-robot cooperation manipulator is designed for the human operator to teach the motion of the manipulator directly. The control system is also designed to carry up a heavy payload and we can specify both operational force (human force) amplification ratio and maneuverability of the manipulator. We apply the concept of the man-robot cooperative work to a hydraulic manipulator.In the experiment, we show the effectiveness of applying a hydraulic cooperative manipulator for handling a heavy object.
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