Robotic Performance of Interior Finishing Works: Development of Full-Size Applications

The paper describes the technological development of full-scale robotic execution, at construction sites, of several types of interior finishing tasks, the latest stage in the evolution of a multipurpose interior finishing robot. The robot will perform various building tasks, adaption of a mobile carriage, working tools, material feeding systems, and control algorithms, to a universal articulated arm. For execution of the various tasks, the present stage is designed around a standard, off-the-shelf industrial robot with 6 degrees of freedom mounted on a three-wheeled semi-automatically guided platform. In all its applications the robot arrives at a predetermined work station, calibrates itself with the aid of sensors in respect of both the assigned work area and the location of prearranged materials, and then performs its task. Three of tasks were examined: 1.painting of walls and ceilings, 2. tile-setting on walls, and 3. building of partitions and walls with lightweight building blocks. Theses tasks are discussed with regard to tthe general concept of a robotized application, the solution adopted and further refinements- under development or envisaged in the future. The paper is illustrated by slides and a videotape.