A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
Collision-free trajectory planning for robotic assembly of lightweight structures
Abstract This research presents a trajectory planning approach for robotic assembly of lightweight structures for COVID-19 healthcare facilities. The prefabricated building components of COVID-19 healthcare facilities have nonnegligible volume, where the crux of the scientific question lies in how to incorporate geometry-based collision checks in trajectory planning. This research developed an algorithm that refines the RRT* (Rapidly-exploring Random Tree-Star) algorithm to enable the detour of a planned trajectory based on the geometry of prefabricated components to prevent collisions. Testing of the approach reveals that it has satisfactory collision-avoiding and trajectory-smoothing performance, and is time- and labour-saving compared with the traditional human method. The satisfactory results highlight the practical implication of this research, where robots can replace human labour and contribute to the mitigation of COVID-19 spread on construction sites. The subsequent research will investigate the use of a collaborative robot to screw bolt connections after the components are assembled at locations.
Highlights This research proposed a robot assembly method for COVID-19 hospitalisation facilities. This research developed a motion planning algorithm for robot assembly. The motion planning algorithm defines trajectories for assembling building components. The motion planning algorithm incorporates geometry-based collision checks.
Collision-free trajectory planning for robotic assembly of lightweight structures
Abstract This research presents a trajectory planning approach for robotic assembly of lightweight structures for COVID-19 healthcare facilities. The prefabricated building components of COVID-19 healthcare facilities have nonnegligible volume, where the crux of the scientific question lies in how to incorporate geometry-based collision checks in trajectory planning. This research developed an algorithm that refines the RRT* (Rapidly-exploring Random Tree-Star) algorithm to enable the detour of a planned trajectory based on the geometry of prefabricated components to prevent collisions. Testing of the approach reveals that it has satisfactory collision-avoiding and trajectory-smoothing performance, and is time- and labour-saving compared with the traditional human method. The satisfactory results highlight the practical implication of this research, where robots can replace human labour and contribute to the mitigation of COVID-19 spread on construction sites. The subsequent research will investigate the use of a collaborative robot to screw bolt connections after the components are assembled at locations.
Highlights This research proposed a robot assembly method for COVID-19 hospitalisation facilities. This research developed a motion planning algorithm for robot assembly. The motion planning algorithm defines trajectories for assembling building components. The motion planning algorithm incorporates geometry-based collision checks.
Collision-free trajectory planning for robotic assembly of lightweight structures
Shu, Jiangpeng (author) / Li, Wenhao (author) / Gao, Yifan (author)
2022-07-30
Article (Journal)
Electronic Resource
English
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