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A platform for research: civil engineering, architecture and urbanism
Optimal manipulation trajectory and laying pattern generation algorithm for handling robot
The conventional brick handling such as road paving site, building construction site is allocated to the construction workers. Since these kinds of tasks are obviously labor-intensive and tedious, there have been many approaches to the automation at the construction site. However, the automation of the block-laying task still has several problems caused by the poor surroundings - inequable construction materials and uneven working conditions like various laying and paving patterns. The aim of this study is to design an assistive robot system which will help construction workers with the most repetitive, and monotonous procedures of brick laying, but not substitute them. It is proposed an integrated mobile manipulator system operated by the optimal laying pattern and trajectory generation algorithm. The pattern generator is designed by the 'Fast Algorithm' based on Steudel's algorithm; the trajectory generation algorithm is based on the 'Overlap Method' which is a treatment skill for robot-surrounded obstacles. This study mainly shows the efficiencies of the proposed pattern and trajectory generation algorithm for the brick-laying task and the performance evaluation of the prototype system. The computing time of A*algorithm that considered the volume of the robot is remarkably different depending on the situation encountered at every. However, the overlap method produces fast and stable computation results regardless of the place-down position and configurations of surrounding obstacles. Each brick position is calculated by the proposed OLP simulator based on the 'Fast Algorithm' and 'Overlap Method.' In the next study, there will be trials for synchronizing the mobile platform with the operating algorithm to perform the brick-laying and paving task while continuously moving. Then, there will be trials for improving the dynamic performance of the mobile platform such as minimizing the hysteresis error, and keeping the constant distance precisely against the wall using by the autonomous navigation system. Lastly, there will be field-tests and make-up for a user-friendly operating interface.
Optimal manipulation trajectory and laying pattern generation algorithm for handling robot
The conventional brick handling such as road paving site, building construction site is allocated to the construction workers. Since these kinds of tasks are obviously labor-intensive and tedious, there have been many approaches to the automation at the construction site. However, the automation of the block-laying task still has several problems caused by the poor surroundings - inequable construction materials and uneven working conditions like various laying and paving patterns. The aim of this study is to design an assistive robot system which will help construction workers with the most repetitive, and monotonous procedures of brick laying, but not substitute them. It is proposed an integrated mobile manipulator system operated by the optimal laying pattern and trajectory generation algorithm. The pattern generator is designed by the 'Fast Algorithm' based on Steudel's algorithm; the trajectory generation algorithm is based on the 'Overlap Method' which is a treatment skill for robot-surrounded obstacles. This study mainly shows the efficiencies of the proposed pattern and trajectory generation algorithm for the brick-laying task and the performance evaluation of the prototype system. The computing time of A*algorithm that considered the volume of the robot is remarkably different depending on the situation encountered at every. However, the overlap method produces fast and stable computation results regardless of the place-down position and configurations of surrounding obstacles. Each brick position is calculated by the proposed OLP simulator based on the 'Fast Algorithm' and 'Overlap Method.' In the next study, there will be trials for synchronizing the mobile platform with the operating algorithm to perform the brick-laying and paving task while continuously moving. Then, there will be trials for improving the dynamic performance of the mobile platform such as minimizing the hysteresis error, and keeping the constant distance precisely against the wall using by the autonomous navigation system. Lastly, there will be field-tests and make-up for a user-friendly operating interface.
Optimal manipulation trajectory and laying pattern generation algorithm for handling robot
2009
7 Seiten, 10 Bilder, 7 Quellen
Conference paper
English
| British Library Online Contents | 2009
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