A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning
- 709 Downloads
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.
KeywordsCable-driven robot Vision-guided positioning Path-planning Scene interpretation
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”.
- Borgstrom, PH., Borgstrom, NP., Stealey, MJ., Jordan, B., Sukhatme, G., Batalin, MA., & Kaiser, WJ. (2008). Generation of energy efficient trajectories for nims3d, a three-dimensional cabled robot. In IEEE International Conference on Robotics and Automation (pp. 2222–2227), IEEE.Google Scholar
- Bosscher, P, I. I., RLW, Bryson, L. S., & Castro-Lacouture, D. (2007). Cable-suspended robotic contour crafting system. Automation in Construction, 17(1), 45–55. doi: 10.1016/j.autcon.2007.02.011.
- Costa, P., Moreira, A. P., & Costa, P. G. (2009). Real-time path planning using a modified a* algorithm. In Conference on mobile robots and competitions (pp. 222–227).Google Scholar
- Dallej, T., Gouttefarde, M., Andreff, N., Dahmouche, R., & Martinet, P. (2012). Vision-based modeling and control of large-dimension cable-driven parallel robots. In 2012 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 1581–1586).Google Scholar
- Gagliardini, C., & Gouttefarde, G. (2015). Optimal path planning and reconfiguration strategy for reconfigurable cable-driven parallel robots. In IEEE international conference on robotics and automation (ICRA).Google Scholar
- German, J., Jablokow, K. W., & Cannon, D. J. (2001). The cable array robot: Theory and experiment. IEEE International Conference on Robotics and Automation, IEEE, 3, 2804–2810.Google Scholar
- Moreira, E., Pinto, A. M., Costa, P., Moreira, A. P., Veiga, G., Lima, J., Sousa, J. P., & Costa, P. (2015). Cable robot for non-standard architecture and construction: A dynamic positioning system. In IEEE International Conference on Industrial Technology (ICIT) (Vol. 1, pp. 3184–3189), IEEE.Google Scholar
- Mourad Ismail, LR Lahouar Samir. (2013). Dynamic in path planning of a cable driven robot. In Design and modeling of mechanical systems. Lecture notes in mechanical engineering (pp. 11-18).Google Scholar
- Ottaviano, E., Ceccarelli, M., & De Ciantis, M. (2007) A 4-4 cable-based parallel manipulator for an application in hospital environment. In Mediterranean conference on control automation (pp 1–6).Google Scholar
- Pinto, A., Costa, P., Moreira, A. P., Rocha, L. F., Veiga, G., & Moreira, E. (2015). Evaluation of depth sensors for robotic applications. In 2015 IEEE international conference on autonomous robot systems and competitions (ICARSC) (pp. 139–143).Google Scholar
- Usher, K., Winstanley, G., & Carnie, R. (2005). Air vehicle simulator: an application for a cable array robot. In IEEE international conference on robotics and automation (ICRA) (pp. 2241–2246), IEEE.Google Scholar