A Masonry Tasking Robot

A gantry type robot is being developed for performing masonry tasks, a traditional and extensive activity. For this, vision is considered to be the prime sensor mechanism for inspection and guidance. A CAD model of the block component has been investigated for use in the design, vision and planning tasks. Free of the restraints for the manual process, the block material itself is a matter of some sophistication in form and function. The presentation, transfer, bonding and incorporation of the block material necessitates a well structured, goal driven approach to the planning problem. A simple expert system shell environment provides a useful means for investigating the knowledge base for this.