Publications / 1995 Proceedings of the 12th ISARC, Warsaw, Poland

Object-Oriented Planning and Controlling-System for a Wall Construction Robot

T. Bock; D. Stricker; T. Huynh; J. Fliedner
Pages 259-266 (1995 Proceedings of the 12th ISARC, Warsaw, Poland, ISBN 9788386040025, ISSN 2413-5844)

In this article we present several important aspects of a software system control. This is designed and developed for a wall assembly robot in an European Espirit III project called ROCCO, RObot assembly system for computer integrated construction. The system consists of an off-line program for planning of complex assembly tasks and for generating robot actions. Furthermore, an on-line command control is made possible through an adaptive user interface.

All the software is designed with object-oriented concepts and implemented in C++. The wall assembly system is organized on the base of the successive generation of different types of actions, called “Mission”, “Task”, and “Action”. They represent different levels of complexities. Those different actions are organized in a tree structure. The control of each level is done through the user interface window.

Furthermore, the software system can be connected to a CAD-robot simulation software for checking the robot assembly motions. Added to the control system, a recovery module is implemented for all possible errors during the construction.

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