PASSIVE COMPLIANCE AND COMPUTER VISION TECHNIQUES FOR PRECISION IMPROVEMENT OF ELEMENT PLACEMENT OF ROBOTIC-BASED BRICKLAYING

István Vidovszky

Abstract:

Besides robotic-based manufacturing in the prefabrication of the construction elements, on-site robotic-based construction technologies also tend to increase their relevance. In the case of such construction tasks, e.g. automated bricklaying, that involve robotic element placement activities, the precision of the placement of the elements by robotic actuators is influenced by many technical factors, among which the material picking from palettes is one of the determining ones. Any dislocation during the pallet building or at the picking process is inherited by the further phases unless some measurements are taken either for the elimination of the failure or the readjustment of the position of the element. For this purpose, in the classical periods of robotics, passive compliance methods, namely physically aligning elements and surface forming were applied at the various technological steps. In the present day, computer vision-based techniques can be applied as well. In the frame of this research, a comparison of passive compliance methods and computer vision techniques is made in robotic material picking of small-scale construction elements. As far as both methods have pros and cons, a highlighting of the advantages and disadvantages of the various solutions in case of various circumstances was executed.