Publications / 2009 Proceedings of the 26th ISARC, Austin, USA

Optimal Manipulation Trajectory and Laying Pattern Generation Algorithm for Handling Robot

S. H. Lee, S. N. Yu, S. J. Lim, B. G. Ryu, C. S. Han
Pages 397-404 (2009 Proceedings of the 26th ISARC, Austin, USA, ISBN 978-0-578-02312-0, ISSN 2413-5844)

The conventional brick handling such as road paving site, building construction site is allocated to the construction workers. Since these kinds of tasks are obviously labor-intensive and tedious, there have been many approaches to the automation at the construction site. However, the automation of the block-laying task still has several problems caused by the poor surroundings - inequable construction materials and uneven working conditions like various laying and paving patterns. Herein, this paper proposes an integrated mobile manipulator system operated by the optimal laying pattern and trajectory generation algorithm. The pattern generator is designed by the "Fast Algorithm" based on Steudel’s algorithm; the trajectory generation algorithm is based on the "Overlap Method" which is a treatment skill for robot-surrounded obstacles. This study mainly shows the efficiencies of the proposed pattern and trajectory generation algorithm for the brick-laying task and the performance evaluation of the prototype system.

Keywords: Brick Laying Pattern Algorithm, Manipulation Trajectory Generation Algorithm, Brick-laying, Brick-paving, Mobile Robot