A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
Autor(a) principal: | |
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Data de Publicação: | 2017 |
Outros Autores: | , , , |
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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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) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
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 |
repository.mail.fl_str_mv |
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1799135298366472192 |