Abstract
This paper discusses the integration of automatic robot path planning into the computational design environment. A path planning software interface is presented that allows to support fabrication-aware design of robotically assembled structures with discrete elements. Using the large-scale Robotic Fabrication Laboratory (RFL) as test-bed, the software interface is validated through three experiments, in which building members need to be guided around obstacles and which are fabricated using two cooperative robotic arms. Specific focus of this paper is the investigation of strategies to narrow the path search by adjusting design and path planning parameters in order to achieve a calculation time that is suitable for design applications. A close integration of automatic path planning and design is presented, which does not only enable the negotiation between design intention and fabrication feasibility, but allows for an understanding of the constraints present in robotically fabricated spatial structures. Thus, this research contributes to expand these structures’ design and fabrication space.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
- 2.
Flexible parts such as cables and hosepipes are not included in the model.
- 3.
Adjustments of the design do not take structural considers into account.
References
HAL Robotics: HAL Robotics Framework (2017). http://hal-robotics.com/. Accessed 18 May 2018
Autodesk: Autodesk Robotics Features. https://manufacturing.autodesk.com/solutions/robotics/features/index.asp. Accessed 18 May 2018
Laboratoire d’Analyse et d’Architecture des Systèmes: What is MORSE? The MORSE Simulator Documentation. https://www.openrobots.org/morse/doc/stable/what_is_morse.html. Accessed 18 May 2018
Neto, P., Mendes, N.: Direct off-line robot programming via a common CAD package. In: Berns, J.O.K., Gini, M. (eds.) Robotics and Autonomous Systems, pp. 896–910. Elsevier, Amsterdam (2013)
Şucan, I.A., Chitta. S.: MoveIt! Motion Planning Framework (2011). http://moveit.ros.org/about/. Accessed 18 May 2018
Howard, A., Koenig, N.: Open Source Robotics Foundation, “Gazebo” (2002). http://gazebosim.org/. Accessed 18 May 2018
Şucan, I.A., Moll, M., Kavraki, L.E.: The Open Motion Planning Library (2012). http://ompl.kavrakilab.org/citations.html/. Accessed 18 May 2018
D. Rutten at Robert McNeel & Associates: Grasshopper 3D | algorithmic modeling for Rhino (2007). http://www.grasshopper3d.com/. Accessed 18 May 2018
Parascho, S., Gandia, A., Mirjan, A., Gramazio, F., Kohler, M.: Cooperative fabrication of spatial metal structures. In: Sheil, B., Menges, A., Glynn, R., Skavara, M. (eds.) Fabricate: Rethinking Design and Construction, pp. 24–29. UCL Press, London (2017)
Thoma, A., Adel, A., Mirjan, A., Gramazio, F., Kohler, M.: Robotic fabrication of Bespoke timber frame modules. In: Robotic Fabrication in Architecture, Art and Design 2018. Springer International Publishing, Switzerland (2018, accepted for publication)
Bonwetsch, T., Lyrenmann, M.: Gramazio Kohler Research, Robotic Fabrication Laboratory (2016). http://dfab.arch.ethz.ch/web/e/forschung/186.html. Accessed 18 May 2018
Kuffner, J.J., LaValle, S.M.: RRT-connect: an efficient approach to single-query path planning. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2000 (Millennium Conference), Symposia Proceedings. pp. 995–1001. San Francisco, CA (2000)
Şucan, I.A., Moll, M., Kavraki, L.E.: OMPL | RRT* Class Reference (2012). https://ompl.kavrakilab.org/classompl_1_1geometric_1_1RRTstar.html#gRRTstar. Accessed 18 May 2018
Coppelia Robotics: V-REP | Create, Compose, Simulate, any Robot (2010). http://www.coppeliarobotics.com/. Accessed 18 May 2018
Coppelia Robotics: Collision detection (2010). http://www.coppeliarobotics.com/helpFiles/en/collisionDetection.htm. Accessed 18 May 2018
Piacentino, G.: GhPython | Food4Rhino (2012). http://www.food4rhino.com/app/ghpython. Accessed 18 May 2018
Docker: Docker | Build, Ship, and Run Any App, Anywhere (2013). https://www.docker.com/. Accessed 18 May 2018
Coppelia Robotics: V-REP models (2010). http://www.coppeliarobotics.com/helpFiles/en/models.htm. Accessed 18 May 2018
Şucan, I.A., Moll, M., Kavraki, L.E.: OMPL Available Planners (2012). http://ompl.kavrakilab.org/planners.html. Accessed 18 May 2018
Şucan, I.A., Moll, M., Kavraki, L.E.: OMPL Graphical User Interface (2012). http://ompl.kavrakilab.org/gui.html. Accessed 18 May 2018
Moll, M., Şucan, I.A., Kavraki, L.E.: Benchmarking motion planning algorithms: an extensible infrastructure for analysis and visualization. In: Vanderborght, B. (eds.) IEEE Robotics and Automation Magazine, pp. 96–102 (2015)
Li, T.-Y., Chen, J.-S.: Incremental 3D collision detection with hierarchical data structures. In: Proceedings of the ACM symposium on Virtual reality software and technology (VRST 1998), pp. 139–144. Taipei, Taiwan (1998)
Murray, S., Floyd-Jones, W., Qi, Y., Sorin, D., Konidaris, G.: Robot motion planning on a chip. In: Berman, S., Jacobs, S., Hsu, D., Amato, N. (eds.) Robotics: Science and Systems XII, Ann Arbor, MI (2016)
Blender Foundation: Home of the Blender Project | Free and Open 3D Creation Software (1998). https://www.blender.org/. Accessed 18 May 2018
Autodesk: Maya | Computer Animation; Modeling Software (1998). https://www.autodesk.eu/products/maya/overview. Accessed 18 May 2018
Block Research Group: The COMPAS framework (2018). https://compas-dev.github.io/. Accessed 18 May 2018
Acknowledgements
This research presented here is part of and supported by the research programme NCCR, funded by the Swiss National Science Fundation. Special thanks goes to Ammar Mirjan for his advice during the early stages of the PhD and for the people that contributed to the realization of the first experiment: Gergana Rusenova, Petrus Aejmelaeus-Lindström, Marco Palma and Martin Rusenova. Also thanks for the people that were part of the second experiment: Andreas Thoma, Arash Adel and Matthias Helmreich. Additional thanks goes to Marc Freese for collaborating as consultant of robotic simulation and for the integration of OMPL in V-REP and to Philippe Fleischmann and Michael Lyrenmann for their support in the RFL.
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Gandia, A., Parascho, S., Rust, R., Casas, G., Gramazio, F., Kohler, M. (2019). Towards Automatic Path Planning for Robotically Assembled Spatial Structures. In: Willmann, J., Block, P., Hutter, M., Byrne, K., Schork, T. (eds) Robotic Fabrication in Architecture, Art and Design 2018. ROBARCH 2018. Springer, Cham. https://doi.org/10.1007/978-3-319-92294-2_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-92294-2_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-92293-5
Online ISBN: 978-3-319-92294-2
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)