SUMMARY

This study introduces a design and control of a teleoperated motion scaling system for robotic construction tasks. The introduced system improves the efficiency of construction tasks using motion scaling which allows operators to control a master system more strategically. The TMSRA with force feedback and a safety function will also decrease the number of accidents on construction sites by reducing the maximum force applied to underground facilities such as gas pipes and power cables. The experimental results indicate that the maximum force applied to the buried utilities during the simulated robotic excavating and demolition tasks was reduced by 77.67% and 76.36% respectively due to the force feedback and safety function. Additionally, the introduction of the motion scaling to the teleoperated robotic arm increases the efficiency of work. The task time was reduced by 47.76% for the best case and 31.41% for the worst case due to the motion scaling. From the studies, it is evident that the introduction of motion scaling teleoperation with force feedback to a construction site will improve the efficiency of robotic construction work.
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