Robotic Kinematics Analogy for Realignment of Defective Construction Assemblies

Aligning and plumbing of construction assemblies is a fundamental problem because of reliance on manual solutions for geometric feedback control problem involved with practices such as pipefitting and steel structures erection. Where defective components and segments are not well controlled, the errors propagate in larger components and therefore cause more severe problems. In order to address such a challenging problem and tackle potential solutions, this paper presents a framework for automatic and systematic development of realignment actions required to achieve a target state by borrowing concepts from: (1) 3D imaging that enables the identification of the as-built status and then quantification of incurred discrepancies as a feedback by comparing the captured status with the designed state existing in the building information model (BIM); and (2) an inverse kinematics analogy that results in the calculation of required changes in the degrees of freedom defined where realignment and changes can be applied. Experimental results show that the framework can generate the required actions for achieving a desired state systematically and accurately.