ABSTRACT:The development of "The double arm working machine", that is suitable for demolition and scrap-processing, and its operation support technologies are described. The contents of these technologies are interference warning system, grasping force control system and weight measuring system. In addition, the succession machine, which is developed based on the field test results and operators usability, is mentioned.

Authors had suggested the "Construction Waste Divide and Select System by a Next-generation Manipulator" in order to improve work efficiency, safety and recycling rate of building demolition, also developed element technologies.This paper shows contents of development technologies, "Next-generation Manipulator", "Handling Planning System"and shows function and performance of those. A result of field tests and effectiveness of these technologies based on a test result are also explained.

three years. The construction work manipulator with two arms to separate the construction waste efficiently has been developed so far. Moreover, the system that specified five kinds of materials of the waste generated on the dismantlement site was researched. (Fig.1) 1) Technique for specifying material of wasteThe construction waste generated on the dismantlement site was investigated, and five selected materials were set as concrete, steel, aluminum, wood, and plastic. These are selected with the waste selection

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