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Glass is widely used as finishing material in order to allow good appearance from building inside and outside. And the trend of construction material and component is toward larger and heavier. So, safely to install this heavy duty and fragile glass, we proposed new methodology for glass installation. First we inquired all kind of glass installation robot widely. And we classified these robots, analyzed installation methods and compared to construction worker. Second we proposed new methodology which had similar to installation method of construction worker. Third we made an experiment system for performance evaluation. Lastly we confirmed that the glass installation work of proposed method is more efficiency than existing method through work time and force/torque interference. Also we confirmed that work time of installation work using proposed method is similar to that of construction worker. This method is to be the system combined with operator's control ability and robot's power. And, through this method, it is expected that glass installation work is to be more efficiency and safety.

Purpose Glass is widely used as finishing material for a good appearance of a building inside and outside. Moreover, the trend is to make this construction material and component larger and heavier. To safely and easily install this heavy duty and fragile glass, we propose an easy handling robot (EHR) system for glass installation work. Method We used an intuitive installation method; robot analysis using robotics; robot design; dynamic analysis using DAFUL. Results & Discussion The EHR-system is divided into mobile, manipulator, and human robot cooperation (HRC) algorithm parts. We designed the mobile and manipulator, we then verified using DAFUL. We verified the HRC-algorithm by experiment. It is expected that the EHR-system will make this type of work easier and safer.