A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning

Detalhes bibliográficos
Autor(a) principal: Pinto, Andry
Data de Publicação: 2017
Outros Autores: Moreira, Eduardo, Lima, José, Sousa, José Pedro, Costa, Pedro
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10198/15408
Resumo: Cable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location; and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDERobot while operating in realistic working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions.
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spelling A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planningCable-driven robotPath-planningScene interpretationVision-guided positioningCable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location; and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDERobot while operating in realistic working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions.This work is partly funded by the project PTDC/ ATP-AQI/5124/2012 - Robotic Technologies for Non-Standard Design and Construction in Architecture. This work is also financed by the ERDF European Regional Development Fund through the COMPETE Programme (operational programme for competitiveness) and by National Funds through the FCT Portuguese Foundation for Science and Technology within project “FCOMP - 01-0124-FEDER-022701”.Biblioteca Digital do IPBPinto, AndryMoreira, EduardoLima, JoséSousa, José PedroCosta, Pedro2018-01-31T10:00:00Z20172017-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10198/15408engPinto, Andry Maykol; Moreira, Eduardo; Lima, José; Sousa, José Pedro; Costa, Pedro (2017). A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning. Autonomous Robots. ISSN 0929-5593. 41, p. 1487-14990929-559310.1007/s10514-016-9609-6info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-11-21T10:36:00Zoai:bibliotecadigital.ipb.pt:10198/15408Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T23:05:00.386900Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
title A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
spellingShingle A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
Pinto, Andry
Cable-driven robot
Path-planning
Scene interpretation
Vision-guided positioning
title_short A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
title_full A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
title_fullStr A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
title_full_unstemmed A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
title_sort A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
author Pinto, Andry
author_facet Pinto, Andry
Moreira, Eduardo
Lima, José
Sousa, José Pedro
Costa, Pedro
author_role author
author2 Moreira, Eduardo
Lima, José
Sousa, José Pedro
Costa, Pedro
author2_role author
author
author
author
dc.contributor.none.fl_str_mv Biblioteca Digital do IPB
dc.contributor.author.fl_str_mv Pinto, Andry
Moreira, Eduardo
Lima, José
Sousa, José Pedro
Costa, Pedro
dc.subject.por.fl_str_mv Cable-driven robot
Path-planning
Scene interpretation
Vision-guided positioning
topic Cable-driven robot
Path-planning
Scene interpretation
Vision-guided positioning
description Cable-driven robots have received some attention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed for automated construction of architectural projects. The proposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP) that provides a visual interpretation of the scene: the position of the robot, the target and obstacles location; and optimizes the trajectory of the robot. Moreover, it determines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A set of experiments make possible to validate the contribution of V-GPP to the SPIDERobot while operating in realistic working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizes the robot with a precision of 0.006 m, detects the targets and successfully generates a path that takes into account the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions.
publishDate 2017
dc.date.none.fl_str_mv 2017
2017-01-01T00:00:00Z
2018-01-31T10:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10198/15408
url http://hdl.handle.net/10198/15408
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv Pinto, Andry Maykol; Moreira, Eduardo; Lima, José; Sousa, José Pedro; Costa, Pedro (2017). A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning. Autonomous Robots. ISSN 0929-5593. 41, p. 1487-1499
0929-5593
10.1007/s10514-016-9609-6
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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