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Moreover, the deck shape must be optimized to increase operation dexterity, in order to avoid obstacles and allow for a smooth approach to the target position. Two cases were proposed concerning the position of the glazed panels on the deck, as shown in Fig. 7. After simulating the operator’s motions and manipulator’s operation, it was found that case 2 requires more motion by the manipulator than case 1, and needs a larger work space than case 1. Therefore, case 1 was selected, in which the glazed ceiling panel is positioned in front of the manipulator on the deck, as shown in Fig.

Therefore, considering mobility, a wheel type of work platform was selected, which is mounted on the truck with a telescopic boom. Considering the reachable distance and payload, it is necessary to expand the selection criteria to include not only specific properties but also safety 50 5 Glazed Ceiling Panel Construction Robot Fig. 2 Specifications of the selected aerial work platform Specification Value Max. payload Rotation range (Y axis) Rotation range (Z axis) Max. 3 D-H Table of the selected aerial work platform i aiÀ1 aiÀ1 di hi 1 2 3 4 5 0 p=2 Àp=2 p=2 Àp=2 0 0 0 0 l2 0 0 l1 þ d3 0 l3 h1 h2 0 h4 h5 concerns.

_ q_ þ gðqÞ ¼ n BðqÞ€ q þ Cðq; qÞ ð4:8Þ Each joint torque of a manipulator is produced by a direct drive or gear drive, and consists of a form similar to Eq. 9. ni ¼ si À sfi À sei ð4:9Þ sfi is the torque derived from joints and shows the torque produced by friction from the joints. Also, sei shows the power and moment from the outside affected when the end-effector contacts the surrounding environment. Friction from the joints is a simplified model and only viscous friction is considered. That is, sf ¼ Fq_ ð4:10Þ Here, F shows the viscous friction coefficient from each joint.

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