Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency
This paper presents a full suite of Robotic Tower Crane (RTC) technologies that can be seamlessly implemented on traditional saddle-jib tower cranes to boost the construction safety and productivity. The robotisation of tower cranes enables the RTC capabilities of automatic path planning for point-t...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/180557 |
| _version_ | 1826117276237037568 |
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| author | Ku, Teerapat Kian Xiong Zuo, Bingran Ang, Wei Tech |
| author2 | School of Mechanical and Aerospace Engineering |
| author_facet | School of Mechanical and Aerospace Engineering Ku, Teerapat Kian Xiong Zuo, Bingran Ang, Wei Tech |
| author_sort | Ku, Teerapat Kian Xiong |
| collection | NTU |
| description | This paper presents a full suite of Robotic Tower Crane (RTC) technologies that can be seamlessly implemented on traditional saddle-jib tower cranes to boost the construction safety and productivity. The robotisation of tower cranes enables the RTC capabilities of automatic path planning for point-to-point movement, and dynamic obstacle avoidance with re-planning. While the former fast generates the RTC path based on decoupling of vertical and horizontal movements, the latter takes a ‘hoist-first’ approach to prioritise safety. A motion compensation algorithm is developed for multi-step speed control to achieve the exact displacement based on dynamically optimizing the time duration at each planned velocity. The implementation of the RTC system has demonstrated a comprehensive approach that combines laboratory simulations, hardware-in-the-loop testing, and live demos for on-site deployment. A comparative performance and operational time study reveals the RTC's superior precision and consistency over human operators. |
| first_indexed | 2025-03-09T11:52:25Z |
| format | Journal Article |
| id | ntu-10356/180557 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2025-03-09T11:52:25Z |
| publishDate | 2024 |
| record_format | dspace |
| spelling | ntu-10356/1805572024-10-12T16:48:19Z Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency Ku, Teerapat Kian Xiong Zuo, Bingran Ang, Wei Tech School of Mechanical and Aerospace Engineering Engineering Robotic tower crane Construction robotics This paper presents a full suite of Robotic Tower Crane (RTC) technologies that can be seamlessly implemented on traditional saddle-jib tower cranes to boost the construction safety and productivity. The robotisation of tower cranes enables the RTC capabilities of automatic path planning for point-to-point movement, and dynamic obstacle avoidance with re-planning. While the former fast generates the RTC path based on decoupling of vertical and horizontal movements, the latter takes a ‘hoist-first’ approach to prioritise safety. A motion compensation algorithm is developed for multi-step speed control to achieve the exact displacement based on dynamically optimizing the time duration at each planned velocity. The implementation of the RTC system has demonstrated a comprehensive approach that combines laboratory simulations, hardware-in-the-loop testing, and live demos for on-site deployment. A comparative performance and operational time study reveals the RTC's superior precision and consistency over human operators. Housing & Development Board Submitted/Accepted version This research project was funded by Singapore Housing Development Board (HDB) – Proof-of-Concept, Proof-of-Value and Test-Bedding in Smart Integrated Construction System Programme, Building and Construction Authority (BCA) and National Robotics Programme – Built Environment RDS: Robotics for Construction 4.0. 2024-10-11T07:36:25Z 2024-10-11T07:36:25Z 2024 Journal Article Ku, T. K. X., Zuo, B. & Ang, W. T. (2024). Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency. Automation in Construction, 168(Part A), 105765-. https://dx.doi.org/10.1016/j.autcon.2024.105765 0926-5805 https://hdl.handle.net/10356/180557 10.1016/j.autcon.2024.105765 2-s2.0-85203509765 Part A 168 105765 en Automation in Construction © 2024 Elsevier B.V. All rights reserved. This article may be downloaded for personal use only. Any other use requires prior permission of the copyright holder. The Version of Record is available online at http://doi.org/10.1016/j.autcon.2024.105765. application/pdf |
| spellingShingle | Engineering Robotic tower crane Construction robotics Ku, Teerapat Kian Xiong Zuo, Bingran Ang, Wei Tech Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency |
| title | Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency |
| title_full | Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency |
| title_fullStr | Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency |
| title_full_unstemmed | Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency |
| title_short | Robotic tower cranes with hardware-in-the-loop: enhancing construction safety and efficiency |
| title_sort | robotic tower cranes with hardware in the loop enhancing construction safety and efficiency |
| topic | Engineering Robotic tower crane Construction robotics |
| url | https://hdl.handle.net/10356/180557 |
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